Korea Research Institute of Ships and Ocean engineering, Daejeon 34103, Korea.
Sensors (Basel). 2018 Sep 12;18(9):3062. doi: 10.3390/s18093062.
Acoustic source localization is used in many underwater applications. Acquiring an accurate directional angle for an acoustic source is crucial for source localization. To achieve this purpose, this paper presents a method for directional angle estimation of underwater acoustic sources using a marine vehicle. It is assumed that the vehicle is equipped with two hydrophones and that the acoustic source transmits a specific signal repeatedly. The proposed method provides a probabilistic model for time delay estimation. The probability is recursively updated by prediction and update steps. The prediction step performs a probability transition using the angular displacement of the marine vehicle. The predicted probability is updated using a generalized cross correlation function with a verification process using entropy measurement. The proposed method can provide a reliable and accurate estimation of the directional angles of underwater acoustic sources. Experimental results demonstrate good performance of the proposed probabilistic directional angle estimation method in both an inland water environment and a harbor environment.
声源定位在许多水下应用中都有使用。获取声源的准确方向角对于声源定位至关重要。为了实现这一目的，本文提出了一种使用海洋载具估计水下声源方向角的方法。假设载具配备了两个水听器，并且声源重复发送特定信号。所提出的方法提供了用于时间延迟估计的概率模型。概率通过预测和更新步骤进行递归更新。预测步骤使用海洋载具的角位移执行概率转移。使用广义互相关函数进行预测概率更新，并使用熵测量进行验证过程。所提出的方法可以为水下声源的方向角提供可靠和准确的估计。实验结果表明，所提出的概率方向角估计方法在内陆水环境和港口环境中都具有良好的性能。
