Kapoor Rohan, Ramasamy Subramanian, Gardi Alessandro, Schyndel Ron Van, Sabatini Roberto
School of Engineering, RMIT University, Aerospace and Aviation Discipline, Melbourne 3000, Australia.
School of Science, RMIT University, Computer Science and Information Technology Discipline, Melbourne 3000, Australia.
Sensors (Basel). 2018 Feb 7;18(2):499. doi: 10.3390/s18020499.
This paper presents the state-of-the-art and reviews the state-of-research of acoustic sensors used for a variety of navigation and guidance applications on air and surface vehicles. In particular, this paper focuses on echolocation, which is widely utilized in nature by certain mammals (e.g., cetaceans and bats). Although acoustic sensors have been extensively adopted in various engineering applications, their use in navigation and guidance systems is yet to be fully exploited. This technology has clear potential for applications in air and surface navigation/guidance for Intelligent Transport Systems (ITS), especially considering air and surface operations indoors and in other environments where satellite positioning is not available. Propagation of sound in the atmosphere is discussed in detail, with all potential attenuation sources taken into account. The errors introduced in echolocation measurements due to Doppler, multipath and atmospheric effects are discussed, and an uncertainty analysis method is presented for ranging error budget prediction in acoustic navigation applications. Considering the design challenges associated with monostatic and multi-static sensor implementations and looking at the performance predictions for different possible configurations, acoustic sensors show clear promises in navigation, proximity sensing, as well as obstacle detection and tracking. The integration of acoustic sensors in multi-sensor navigation systems is also considered towards the end of the paper and a low Size, Weight and Power, and Cost (SWaP-C) sensor integration architecture is presented for possible introduction in air and surface navigation systems.
本文介绍了用于空中和水面车辆各种导航与制导应用的声学传感器的最新技术水平，并对其研究现状进行了综述。特别是，本文重点关注回声定位，某些哺乳动物（如鲸类和蝙蝠）在自然界中广泛使用回声定位。尽管声学传感器已在各种工程应用中广泛采用，但其在导航和制导系统中的应用尚未得到充分开发。这项技术在智能交通系统（ITS）的空中和水面导航/制导应用中具有明显的潜力，特别是考虑到在室内和其他无法进行卫星定位的环境中的空中和水面作业。详细讨论了声音在大气中的传播，并考虑了所有潜在的衰减源。讨论了由于多普勒、多径和大气效应在回声定位测量中引入的误差，并提出了一种用于声学导航应用中测距误差预算预测的不确定性分析方法。考虑到与单基地和多基地传感器实现相关的设计挑战，并查看不同可能配置的性能预测，声学传感器在导航、接近传感以及障碍物检测和跟踪方面显示出明显的前景。本文末尾还考虑了声学传感器在多传感器导航系统中的集成，并提出了一种低尺寸、重量、功率和成本（SWaP-C）的传感器集成架构，以便可能引入空中和水面导航系统。
