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Performance and limitations of acoustic positioning using a tetrahedral ultra-short baseline array and an acoustic modem source transmitting frequency-hopped sequences

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Date Issued:
2006
Summary:
The operation of unmanned underwater vehicles requires communications with other nearby vehicles as well as accurate positioning to prevent duplication of work, collisions and other mishaps. This thesis details the integration of an ultra-short baseline positioning system with four transducers arranged as a tetrahedron for use with the FAU Dual Purpose Acoustic Modem. The source position is estimated by processing coherently a series of frequency-hopped pulses to obtain a set of bearings, optimally combined through maximum likelihood estimation of the azimuth and elevation. A simulation has been implemented and experiments have been performed in a calibration tank. Model and experiments confirm that the accuracy of this system improves with the number of pulses and the signal-to-noise ratio. A mean positional error of 5.51% can be obtained with an SNR of 20 dB and a single processed pulse, the error decreases to 2.84% using six processed pulses.
Title: Performance and limitations of acoustic positioning using a tetrahedral ultra-short baseline array and an acoustic modem source transmitting frequency-hopped sequences.
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Name(s): Mohamed, Asif I.
Florida Atlantic University, Degree grantor
Beaujean, Pierre-Philippe, Thesis advisor
College of Engineering and Computer Science
Department of Ocean and Mechanical Engineering
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 2006
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 148 p.
Language(s): English
Summary: The operation of unmanned underwater vehicles requires communications with other nearby vehicles as well as accurate positioning to prevent duplication of work, collisions and other mishaps. This thesis details the integration of an ultra-short baseline positioning system with four transducers arranged as a tetrahedron for use with the FAU Dual Purpose Acoustic Modem. The source position is estimated by processing coherently a series of frequency-hopped pulses to obtain a set of bearings, optimally combined through maximum likelihood estimation of the azimuth and elevation. A simulation has been implemented and experiments have been performed in a calibration tank. Model and experiments confirm that the accuracy of this system improves with the number of pulses and the signal-to-noise ratio. A mean positional error of 5.51% can be obtained with an SNR of 20 dB and a single processed pulse, the error decreases to 2.84% using six processed pulses.
Identifier: 9780542931284 (isbn), 13412 (digitool), FADT13412 (IID), fau:10262 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.)--Florida Atlantic University, 2006.
Subject(s): Underwater navigation
Remote submersibles
Computer integrated manufacturing systems
Acoustical engineering
Underwater acoustics--Instruments
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/13412
Sublocation: Digital Library
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.