Underwater acoustic passive localization base on multipath. arrival structure

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1 Unewae aoui paive loalizaion bae on mulipa aival uue Liang AN ; Lijun CEN ouea Univeiy Cina ABTACT An aoui paive loalizaion meo fo unewae age in allow wae waveguie uing omomopi ignal poeing i peene in i pape. Te mulipa aival uue i exae fom oue aiae noie by epum analyi. Inea of uing e ingle efleion pa e oue ange an ep ae eimae by e imeelay iffeene beween ie pa an wie efleion pa u a ufaeboom efleion pa an boomufae efleion pa. Te eimaion pefomane i analyze wi ompue imulaion in an ieal waveguie. BELLOP moel i ue o examine e effe of ay waping on e loalizaion meo in Pekei waveguie an eal oean waveguie. Keywo: Mulipa Loalizaion Cepum IINCE Claifiaion of ubje Numbe: 7.5. INTOUCTION Paive loalizaion uing a ingle yopone o mallapeue aay i a iffiul poblem in unewae aoui. Claial paive loalizaion meo u a mae file poeing ange iffeene an age moion analyi 5 ae unuiable wi ingle yopone onfiguaion. Te paive loalizaion meo by ingle yopone ave aleay been uie ine 99. Geneally ee ae wo ype of meo. One i e mae file poeing inluing mae moe poeing. Anoe i e ime elay maing. Lee ue e meaue impule epone of e envionmenal an MFP mae file poeing o loalize a oue anmiing Mequene pule 6. Touz e e al pefome oue loalizaion in ep an ange uing a ingle yopone by inoeen an oeen MFP 7. Jeu e al eimae e ubpae panne by e elaye oue ignal pa an loalize e oue uing a family of meaue of e iane beween a ubpae an e ubpae panne by e eplia povie by e moel. Tao e al popoe a meo a involve only poeing e ineniy ufae of e peogam of eeive boaban aoui ignal an eimae e moion paamee by e piniple of e waveguie invaian eoy 9. In i pape a new paive aoui loalizaion meo wi ingle yopone onfiguaion i popoe. Te oue ange an ep ae eimae by e imeelay iffeene beween ie pa an wie efleion pa u a ufaeboom efleion pa an boomufae efleion pa. Te eimao a analyial expeion of oue ange an ep a well a mall alulaing amoun.. LOCALIZATION METO. Teoy In allowwae annel mulipa i aue by muliple efleion of e oean ufae an boom. Wu eive e fomula of oue ange an ep eimaion uing ufae an boom elay. Conie ee pa ae e aiae noie popagae oug iepa ufae efleion pa an boom efleion pa o a yopone a own in Figue. T i e oun oue an i e yopone. Te ange of e ie pa ufae efleion pa an boom efleion pa ae anliang@eu.eu.n ljen@eu.eu.n Inenoie Page of 9

2 Page of 9 Inenoie an b epeively. i e ep of e oun oue an i e ep of e yopone. i e ep of e ea. i e ufae mio image of e wile i e boom mio image of. α i e gazing angle an we uppoe a wen wen wen Figue Geomey of ingleefleion pa Fom imple geomeial elaionip e aoui ange of e ufae efleion pa an boom efleion pa oul be wien a Eq. an Eq.. b Wee τ i e ime elay iffeene beween ufae pa an ie pa τ i e ime elay iffeene beween boom pa an ie pa an i e oun pee in wae. By uing oine eoem an b oul alo be wien a Eq. an Eq. o b o wee 5 6 Pu Eq. an Eq. ino Eq. an Eq. we ave in 7 in By olving Eq.7 an Eq. an oul be eimae by Eq.9 an Eq.. Ti meo i alle B meo in i pape. 9 Fom Eq.9 an Eq. e oue ange an ep oul be eimae imulaneouly by uing Page of 9 Inenoie

3 Inenoie Page of 9 wo ingleefleion pa. Bu wi e oue ange ineaing e wo ingleefleion pa woul beome unable an even vani. In ee iuaion anoe meo mu be foun o eimae e oue ange an ep. Te geomey of wieefleion pa i own in Figue. i e ufae mio image of e i e boom mio image of i e boom mio image of an i e ufae mio image of. ee b i e ufaeboom pa an b i e boomufae pa. b an b ae all wieefleion pa wi inea wi e bounaie wie. b T α b Figue Geomey of wieefleion pa imilaly ome equaion oul be eablie fom geomeial elaionip a own fom Eq. o Eq.6. b b b b o 5 in 6 Wee τ i e ime elay iffeene beween ufaeboom pa an ie pa τ i e ime elay iffeene beween boomufae pa an ie pa. Plu e quae of Eq. an e quae of Eq. we oul ave Eq.7. Inenoie Page of 9

4 Page of 9 Inenoie Page of 9 Inenoie b b 7 Te lef of e Eq.7 oul alo be wien a Eq. wi Eq. an Eq.. b b Plu e quae of Eq.5 an e quae of Eq.6 we oul ave Eq.9. 9 Fom Eq.7 Eq. an Eq.9 oul be eimae by Eq. uba e quae of Eq. fom e quae of Eq. we oul ave Eq.. b b Eq. oul alo be wien a Eq. by ubaing Eq. fom Eq.. b b Fom Eq. Eq. an Eq. oul be eimae by Eq. Eq. an Eq. ae e loalizaion oluion of e wieefleion pa iuaion. Ti meo i alle BB meo in i pape.. Loalizaion Pefomane Analyi Fom Eq.9 Eq. Eq. an Eq. e eimaion peiion of an epen on e ime iffeene beween efleion pa an ie pa. In i pape e eo popagaion moel i ue o alulae e eviaion of e eimao. If fxy i e funion of vaiable x an y e eviaion of fxy oul be wien a Eq.. y x f y y x f x y x f Fo B meo an ae all funion of τ an τ. Teefoe by uing Eq. e eviaion of B meo oul be wien a: 5 6 wee 7

5 Inenoie Page 5 of 9 Inenoie Page 5 of 9 ] [ 9 ] [ Fo BB meo an ae all funion of τ an τ. Teefoe by uing Eq. e eviaion of BB meo oul be wien a: wee 5 6 Figue ow e ange an ep eimaion eviaion wi iffeen ime elay eo of B meo. Figue ow e ange an ep eimaion eviaion wi iffeen ime elay eo of BB meo. Fom Figue an Figue i oul be een a e eimaion eviaion aie wi e iing of oue ange an ime elay eimaion eo. An e eimaion eviaion of BB meo ae le an a of e B meo ange eimaion eviaion of B meo ana eviaion of imeelay eimaion eo ana eviaion of ange eimaion eo m ange = m ange = m ange = 5m ange = m ange = m ep eimaion eviaion of B meo ana eviaion of imeelay eimaion eo ana eviaion of ep eimaion eo m ange = m ange = m ange = 5m ange = m ange = m a ange eviaion b ep eviaion Figue ange an ep eviaion of B meo

6 Page 6 of 9 Inenoie ana eviaion of ange eimaion eo m ange eimaion eviaion of BB meo ange = m ange = m ange = 5m ange = m ange = m ana eviaion of ep eimaion eo m..... ep eimaion eviaion by BB meo ange = m ange = m ange = 5m ange = m ange = m ana eviaion of imeelay eimaion eo ana eviaion of imeelay eimaion eo a ange eviaion b ep eviaion Figue ange an ep eviaion of BB meo. IMULATION EULT IN TYPICAL WAVEGUIE Geneally e ime elay iffeene i eimae by ooelaion poeing. Bu in a mulipa annel ee ae numeou peak in e ooelaion funion of wo eeive ignal. A bee oie i e epum meo. Te epum of eeive ignal i e um of e epum of oue ignal an e epum of annel funion. We an epaae e annel funion fom eeive ignal by epal poeing. If e annel a eveal pa e poiion of peak in e epum will be efine by e aival ime elay iffeene beween pa o we an exa ufae o boom elay fom epum. In i pape e epal poeing i ue o eimae e ime iffeene beween ie pa an efleion pa. In i eion e ange an ep eimaion eviaion ae analyze by ompue imulaion in wo ypial waveguie. One i e Pekei waveguie wi a a onan oun pee pofile in e wae. Anoe i a allow ea waveguie wi a a emoline wi e ikne abou m.. Loalizaion Pefomane in Pekei Waveguie Fi e Pekei waveguie i uie. Te imulaion geomey i epie in Figue 5. Te waveguie ep i m e oun pee in e wae i 5m/ e eniy of e wae ρ i kg/m e oun pee in e boom b i m/ an e eniy of e boom ρ b i kg/m. T =5m/ ρ=kg/m b =m/ ρ b =kg/m Figue 5 emai of e Pekei waveguie ine e oun pee in e Pekei waveguie i onan e oun ay will avel in aig line. Te geomeial elaionip beween e ie pa an efleion pa will omply wi Eq.9 Eq. Eq. an Eq.. Figue 6 ow e epum of e ignal eeive by a ingle yopone wi e oue ange fom m o km. Te annel funion i alulae uing Bellop moel. Page 6 of 9 Inenoie

7 Inenoie Page 7 of 9... ufae efleion pa Boom efleion pa Boomufae efleion pa ange / km ufaeboom efleion pa Time elay / m Figue 6 ignal epum in Pekei waveguie Figue 7 ow e ange an ep eimaion eul by B meo an BB meo. Fom e figue i oul be een a e B meo eul beome unable a e oue ange abou 6m wile e BB meo oul give able ange an ep eimaion moe an m. Wi e ineae of oue ange e BB eimaion eul ow ome fluuaion beaue of e inabiliy of efleion pa..9. Tue value B meo eul BB meo eul Tue value B meo eul BB meo eul ange / km ep / m Fame Numbe Fame Numbe a ange eimaion eul b ep eimaion eul Figue 7 ange an ep eimaion eul in Pekei waveguie. Loalizaion Pefomane in allow ea Waveguie Ten e allow ea waveguie i uie. Te oun pee pofile i own in Figue wi i meaue in a ea ial. Tee i a emoline fom 5m o 55 m an e oun pee eeae fom 56.6m/ o 5.6m/. Inenoie Page 7 of 9

8 Page of 9 Inenoie ep m oun pee m/ Figue oun pee pofile Unlike Pekei waveguie e oun ay woul avel along a uve pa in e allow ea waveguie. oweve e ange an ep eimaion equaion ae eive in an ioveloiy waveguie. In a peevaying waveguie oun ay waping woul inoue eo o Eq.9 Eq. Eq. an Eq.. Figue 9 ow e epum of e ignal eeive by a ingle yopone wi e oue ange fom m o km in e allow ea waveguie... Boom efleion pa Boomufae efleion pa. ufae efleion pa ufaeboom efleion pa ange / km Time elay / m Figue 9 ignal epum in allow ea waveguie Figue ow e ange an ep eimaion eul by B meo an BB meo. Fom e figue i oul be een a bo B an BB meo uffe egae pefomane. Bu e BB meo i ill moe obu a e B meo. Page of 9 Inenoie

9 Inenoie Page 9 of 9.9 Tue value B meo eul BB meo eul Tue value B meo eul BB meo eul. ange / km ep / m Fame Numbe Fame Numbe a ange eimaion eul b ep eimaion eul Figue ange an ep eimaion eul in allow ea waveguie. CONCLUION A new aoui paive loalizaion meo fo unewae age in allow wae waveguie uing omomopi ignal poeing alle BB meo i peene in i pape. Te oue ange an ep ae eimae by e imeelay iffeene beween ie pa an ufaeboom eflee pa a well a boomufae eflee pa. Te eimaion pefomane wa ompae wi a of B meo by ompue imulaion. eul ow a e new meo in i pape i moe obu o imeelay eimaion eo an oun ay waping. ACKNOWLEGEMENT Te auo appeiae e eiae ollaboaion of Li Xuejian an Zang Ceng in ompue imulaion. Ti wok i uppoe by Naional iene Fun of Cina une Gan No. 9. EFEENCE. ini MJ. Maximumlikelioo ignal poeing fo a veial aay. J Aou o Am. 97; 5: Buke P. Ue of alulae oun fiel an maefiel eeion o loae oun oue in allow wae. J Aou o Am. 976; 59: Abel J mi JO. Te peial inepolaion meo fo loefom paive oue loalizaion uing ange iffeene meauemen. Po IEEE ICAP; 69 Apil 97; alla UA 97; p.77.. Naone C Lingen AG Gong KE. Funamenal popeie an pefomane of onvenional beaingonly aking. IEEE Tanaion on Auomai Conol 9; 99: Paeieux JM Pillon BlanBenon P e al. Tage moion analyi wi beaing an fequeny meauemen. Po n Ailoma Confeene on ignal yem an Compue; O Nov 9; Paifi Gove UA 9; p Lee YP. Timeomain ingle yopone loalizaion in a eal allow wae envionmen. Po IEEE OCEAN '9 Confeene; ep O 99; Nie Fane 99. p Touz e GL Toa J Niola B e al. oue loalizaion on a ingle yopone. Po IEEE OCEAN ' Confeene; 5 ep ; Quebe Ciy Canaa. p.6.. Jeu M Poe MB épan Y e al. ingle yopone oue loalizaion. IEEE Jounal of Oeani Engineeing. ; 5: Tao L ikman G Kolik JL e al. ingle yopone paive loalizaion of aniing aoui oue. Po IEEE OCEAN '7 Confeene; June 7; Abeeen UK 7. p... Wu GQ. Eimaion of ange an ep of a ubmege moving obje by uing noie epum. Jounal of oun an Vibaion. ; 55: 5.. Cen LJ Gao X An L. Mulipa paive loalizaion in allow wae annel. Jounal of Nanjing Univeiy Naue iene. ; 5: Jenen FB Kupeman WA Poe MB e al. Compuaional Oean Aoui. n e. New Yok UA: pinge oe eielbeg Lonon;. P.556. Inenoie Page 9 of 9