Robot Motion Estimation Improves Underwater Sonar Accuracy
2005 IEEE INTERNATIONAL CONFERENCE ON COMPUTATIONAL INTELLIGENCE FOR HOMELAND SECURITY AND PERSONAL SAFETY(2005)
Abstract
Underwater sonar system is currently the best solution to distinguish a hazardous target from the harmless objects or a flock of fish at a far distance in the water, subsequently protect the harbors' security. A good sonar system should have the ability to survey a long range, in the meantime reserve a high accuracy. Noise is a crucial problem affecting the accuracy. One possible solution to increase the signal-to-noise ratio (SNR) is to average return signals over multiple sonar pings. A problem with this approach is the relative motion between the sonar and the target during pinging which strongly reduces the effect of the averaging. In this paper, we present a robust motion estimation using multiple receive sensors that estimates the relative motion between multiple pings and aligns all the pings to a base ping through appropriate motion compensation. We further show that the fusion of multiple pings for time-delay estimation after realignment has the potential of improving both the resilience to noise and the accuracy, consequently increasing the operating range
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Key words
underwater sonar,motion estimation,noise,robust
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