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Ocean Systems Engineering
  Volume 3, Number 1, March 2013 , pages 71-77
DOI: https://doi.org/10.12989/ose.2013.3.1.071
 

Acoustic theory application in ultra short baseline system for tracking AUV
Daxiong Ji, Jian Liu and Rong Zheng

 
Abstract
    The effective tracking area of ultra short baseline (USBL) systems strongly relates to the safety of autonomous underwater vehicles (AUVs). This problem has not been studied previously. A method for determining the effective tracking area using acoustic theory is proposed. Ray acoustic equations are used to draw rays which ascertain the effective space. The sonar equation is established in order to discover the available range of the USBL system and the background noise level using sonar characteristics. The available range defines a hemisphere like enclosure. The overlap of the effective space with the hemisphere is the effective area for USBL systems tracking AUVs. Lake and sea trials show the proposed method\'method\'s validity.
 
Key Words
    ultra short baseline system; track; AUV; ray equations; sonar equations
 
Address
Daxiong Ji, Jian Liu and Rong Zheng : State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
 

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