Single-receiver doppler-based sound source localization to track underwater target
AssigneeWoods Hole Oceanographic Institution
InventorsErin Fischell, Peter Traykovski
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Abstract
A system, method, and computer readable medium having a tracked package with a source emitting signals through an underwater environment that are detected by a receiver on a tracker and thereby producing a received signal, the tracker also having a controller and a position mechanism. The controller is configured to produce a sample from the received signal, receive velocity data from the position mechanism, and determine an angle relative to the source by comparing the received signal's frequency from a known source frequency and the velocity data.
Claims20
A combination of a vessel and a non-transient computer readable medium containing program instructions for causing a computer in the vessel to perform a method, the method comprising:
- selecting a vessel configured to move on water and/or underwater, the vessel having the computer with the computer readable medium, having a propulsor capable of providing a motive force to move the vessel at a velocity on water and/or underwater, and having a receiver with a single hydrophone;
- receiving, from the receiver, over time a plurality of samples n, each sample of said plurality of samples having a received frequency fr and originating from a selected source emitting signals into an underwater environment, said signals having a source frequency fs;
- generating a first vessel velocity magnitude |vr|;
- forming a virtual array with a first sample and a second sample of said plurality of samples n, said first sample having a first received frequency and said second sample having a second received frequency;
- and
- determining a relative angle to said source from said receiver using said source frequency fs, said virtual array including said first received frequency and said second received frequency, and said first vessel velocity magnitude |vr| to provide an estimate of location of the selected source in the underwater environment.
A system of Doppler-based relative angle resolution to track a selected package, the system comprising:
- a tracked package including a source configured to produce signals capable of traveling through an underwater environment Env, said signals having a source frequency fs;
- a tracker including a vessel configured to move on water and/or underwater, the vessel having a propulsor capable of providing a motive force to move the vessel at a velocity on water and/or underwater, having a receiver with a single hydrophone, having a position module and having a controller connected to the receiver;
- wherein said receiver is configured to receive said signals and produce a plurality of samples n, each sample of said plurality of samples having a received frequency fr;
- wherein said tracker has a first vessel velocity magnitude |vr| that is generated by one of said position module and said controller;
- wherein said controller is configured form a virtual array with a first sample and a second sample of said plurality of samples n, said first sample having a first received frequency and said second sample having a second received frequency;
- and
- wherein said controller is further configured to determine a relative angle to said source from said receiver using said virtual array including said first received frequency and said second received frequency, said source frequency fs, and said first vessel velocity magnitude |vr| to provide an estimate of location of the tracked package in the underwater environment.
A method of Doppler-based relative angle resolution to track a selected source, the method comprising the steps of:
- selecting a tracked package including a source configured to produce signals having a source frequency fs capable of traveling through an underwater environment Env;
- selecting a tracker including a vessel configured to move on water and/or underwater, the vessel having a propulsor capable of providing a motive force to move the vessel at a velocity on water and/or underwater, having a receiver with a single hydrophone, having a position module and having a controller connected to the receiver, wherein said receiver is configured to receive signals traveling through the underwater environment Env, wherein said tracker has a first vessel velocity magnitude |vr| that is generated by one of said position module and said controller;
- receiving, with said receiver, said signals, thereby producing a first sample having a first received frequency fr and a second sample having a second received frequency fr;
- generating said first vessel velocity magnitude |vr|;
- forming a virtual array with said first sample and said second sample;
- and
- determining a relative angle to said source from said receiver using said signal source frequency fs, said virtual array including said first received frequency and said second received frequency, and said first vessel velocity magnitude |vr| to provide an estimate of location of the selected source in the underwater environment.
Dependencies are inferred from the claim text.