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原文传递 Performance of a Two-Hydrophone Heading Sensor and AUV Formation Flying Controller.

题名：	Performance of a Two-Hydrophone Heading Sensor and AUV Formation Flying Controller.
作者：	baker, b. n. anderson, m. j. bean, t. a. edwards, d. b. odell, d. l.
关键词：	signal processing, acoustic signals, symposia, control systems
摘要：	De-centralized formation control is one way to enable the function of multiple Autonomous Underwater Vehicles (AUVs). It is thought that decentralization can lower the requirements on communication for control, and formation-flying would simplify the oversight of large numbers of vehicles operating simultaneously. In this paper, we describe an algorithm that would enable multiple vehicles to maintain formation. Follower vehicles are equipped with a sensor that can determine a relative angular heading to the source of an intercepted acoustic signal from a leader vehicle. This sensor consists of two hydrophones separated by a fixed distance on the follower vehicles. Experiments were conducted to assess the ability of the two-hydrophone sensor to determine bearing angle in the presence of propeller noise, relative motion with consequent Doppler shift, and a test application in a formation-flying scenario. The effect of using cross-correlation and matched filter signal processing procedures for determination of bearing angle were also compared. It was found that the two-hydrophone sensor could determine bearing angle in the presence of propeller noise, over distances ranging from 9-400m considered in the experiments to an accuracy of approximately 4o. Higher accuracy in bearing angle determination was obtained with matched filter than with cross- correlation signal processing, in spite of relative motion. / NOTE: Conference paper. / Supplementary Notes: The original document contains color images. Presented at the International Symposium on Unmanned Untethered Submersible Technology (14th) held in Durham, NH on 21-24 August 2005. Published in the Proceedings of the International Symposium on Unmanned Untethered Submersible Technology (14th), 2005. / Availability Note: Product reproduced from digital image. Order this product from NTIS by: phone at 1-800-553-NTIS (U.S. customers); (703)605-6000 (other countries); fax at (703)605-6900; and email at orders@ntis.gov. NTIS is located at 5285 Port Royal Road, Springfield, VA, 22161, USA.
总页数：	u0710；6p
报告类型：	科技报告