A Relative-Localization Algorithm Using Incomplete Pairwise Distance Measurements for Underwater Applications

• Main Authors: Kae Y. Foo, Philip R. Atkins
• Format: Article
• Language: English
• Published: SpringerOpen 2010-01-01
• Series: EURASIP Journal on Advances in Signal Processing
• Online Access: http://dx.doi.org/10.1155/2010/930327

The task of localizing underwater assets involves the relative localization of each unit using only pairwise distance measurements, usually obtained from time-of-arrival or time-delay-of-arrival measurements. In the fluctuating underwater environment, a complete set of pair-wise distance measurements can often be difficult to acquire, thus hindering a straightforward closed-form solution in deriving the assets' relative coordinates. An iterative multidimensional scaling approach is presented based upon a weighted-majorization algorithm that tolerates missing or inaccurate distance measurements. Substantial modifications are proposed to optimize the algorithm, while the effects of refractive propagation paths are considered. A parametric study of the algorithm based upon simulation results is shown. An acoustic field-trial was then carried out, presenting field measurements to highlight the practical implementation of this algorithm.