System and method for collision avoidance in underwater vehicles

摘要

A system for providing collision avoidance in underwater vehicles contains a spectral analysis module for determining expectation value of acoustic (incoherent) intensity. The system also contains an intercept time estimation module for: receiving continuous time series of a current incoherent acoustic intensity and low pass filtering the time series of the current incoherent acoustic intensity; estimating temporal intensity rate of change; determining an estimated time to collision for an approaching source; and performing statistical regression analysis resulting in an estimated time of potential collision and an uncertainty measure.

主权项

1. A system for providing collision avoidance in an autonomous underwater vehicle (AUV), comprising:
a spectral analysis module for determining expectation value of acoustic (incoherent) intensity; an intercept time estimation module for:
receiving continuous time series of a current incoherent acoustic intensity and low pass filtering the time series of the current incoherent acoustic intensity;estimating temporal intensity rate of change;determining an estimated time to collision for an approaching source; andperforming statistical regression analysis resulting in an estimated time of potential collision and an uncertainty measure.