Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Direction and Location Estimating Algorithm for Sound Sources with Two Hydrophones in Underwater Environment

두 개의 하이드로폰을 이용한 수중 음원 방향 추정 및 위치 추정 알고리즘

  • 신재욱 (포항공과대학교 전자전기공학과) ;
  • 송주만 (포항공과대학교 정보전자융합공학부) ;
  • 이석영 (포항공과대학교 정보전자융합공학부) ;
  • 최현택 (한국해양과학기술원 해양시스템연구부) ;
  • 박부견 (포항공과대학교 전자전기공학과 & 정보전자융합공학부)
  • Received : 2013.05.15
  • Accepted : 2013.06.30
  • Published : 2013.08.01
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Abstract

For underwater vehicles, the use of sensors such as cameras and laser scanners is limited by the difference in environment compared to robots designed to work on dry land. In underwater environments, if use is made of sound signals, valuable information can be obtained. The most important application is the localization of underwater sound sources. The estimated location of a sound source can be used to control underwater robots or submarines. Thus, the purpose of this research is to estimate the source's direction and location in a noisy underwater environment. The direction of the sound source is obtained using two hydrophones. Furthermore, if we assume that the robot or sound source is moving, the location of the sound source is estimated using more than two estimated directions. The feasibility of the developed algorithm is examined by experiments in a water tank and in the ocean.

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References

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