Passive acoustic tracking of an unmanned underwater vehicle using bearing-Doppler-speed measurements
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1311_1_online.pdf
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8.54 MB
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Checksum (MD5)
e1131be4ea4e53acc7752b7d562fde50
Author(s)
Kita, Kristen Railey
Randeni, Supun
DiBiaso, Dino
Schmidt, Henrik
Date Issued
February 1, 2022
Journal
The Journal of the Acoustical Society of America
Publisher
Acoustical Society of America
Citation
Kristen Railey Kita, Supun Randeni, Dino DiBiaso, Henrik Schmidt; Passive acoustic tracking of an unmanned underwater vehicle using bearing-Doppler-speed measurements. J. Acoust. Soc. Am. 1 February 2022; 151 (2): 1311–1324.
Version
Final published version
Abstract
Tracking unmanned underwater vehicles (UUVs) in the presence of shipping traffic is a critical task for passive acoustic harbor security systems. In general, vessels can be tracked by their unique acoustic signature caused by machinery vibration and cavitation noise. However, cavitation noise of UUVs is quiet relative to that of ships. Furthermore, tracking a target with bearing-only measurements requires the observing platform to maneuver. In this work, it is demonstrated that it is possible to passively track an UUV from its high-frequency motor noise using a stationary array in a shallow-water experiment with passing boats. The motor noise provides high signal-to-noise ratio measurements of the bearing, range rate, and speed, which we combined in an unscented Kalman filter to track the target. First, beamforming is applied to estimate the bearing. Next, the range rate is calculated from the Doppler effect on the motor noise. The propeller rotation rate can be estimated from the motor signature and converted to speed using a pre-identified model of the robot. The bearing-Doppler-speed measurements outperformed traditional bearing-Doppler target motion analysis: the bearing, bearing rate, range, and range rate accuracy improved by a factor of 2×, 16×, 3×, and 6×, respectively. Finally, the robustness of the tracking solution to an unknown vehicle model is evaluated.
Subjects
Acoustics and Ultrasonics
Arts and Humanities (miscellaneous)
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
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DOI of Published Version
https://doi.org/10.1121/10.0009568
