Method and device for phase-based localization of a target device using interval analysis

摘要

Location of underwater moving target device carrying a receiver configured to detect acoustic waves emitted at a known location is estimated such that to be consistent with detected velocity and orientation of the target device, and with a current phase of a signal corresponding to the acoustic waves detected at the target device. A stack including one or more boxes obtained by applying contractors to location boxes is output as the estimate of the location of the moving target device.

主权项

1. A method for estimating a location of a target device moving underwater and carrying a receiver configured to detect acoustic waves emitted at a known location, the method comprising:
measuring, at a first time, a velocity of the target device, an orientation of the target device and a signal corresponding to the acoustic waves emitted at the known location and detected at the target device; generating one or more location boxes that include the location of the target device, at the first time; for each of the location boxes,
applying at least one contractor such that a contracted box meets constraints according to the velocity, the orientation and a phase of the signal, andif a width of the contracted box is less than a predetermined localizing precision, placing the contracted box in a stack of boxes, otherwise splitting the contracted box into two location boxes and placing the two location boxes in the stack; and outputting the stack of boxes as an estimate of the location of the target device at the first time.