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 non-transient computer readable medium containing program instructions for causing a computer to perform a method comprising:
- receiving, from a receiver 122, 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 102 emitting signals 103 into an environment, said signals 103 having a source frequency fs;
- generating a first 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 102 from said receiver 122 using said source frequency fs, said virtual array including said first received frequency and said second received frequency, and said first velocity magnitude |vr| to provide an estimate of location of the selected source.
A system of Doppler-based relative angle resolution to track a selected package, the system comprising:
- a tracked package 101 including a source 102 configured to produce signals 103 capable of traveling through an environment Env, said signals 103 having a source frequency fs;
- a tracker 121 including a receiver 122, a position module 125 and a controller 124 connected to said receiver 122;
- wherein said receiver 122 is configured to receive said signals 103 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 velocity magnitude |vr| that is generated by one of said position module and said controller;
- wherein said controller 124 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 124 is further configured to determine a relative angle to said source 102 from said receiver 122 using said virtual array including said first received frequency and said second received frequency, said source frequency fs, and said first velocity magnitude |vr| to provide an estimate of location of the tracked package.
A method of Doppler-based relative angle resolution to track a selected source, the method comprising the steps of:
- selecting a tracked package 101 including a source 102 configured to produce signals 103 having a source frequency fs capable of traveling through an environment Env;
- selecting a tracker 121 including a receiver 122, a position module 125 and a controller 124 connected to said receiver 122;
- wherein said receiver 122 is configured to receive signals 103 traveling through the environment Env, wherein said tracker has a first velocity magnitude |vr| that is generated by one of said position module and said controller;
- receiving, with said receiver 122, said signals 103, thereby producing a first sample having a first received frequency fr and a second sample having a second received frequency fr;
- generating said first velocity magnitude |vr|;
- forming a virtual array with said first sample and said second sample;
- and
- determining a relative angle to said source 102 from said receiver 122 using said signal source frequency fs, said virtual array including said first received frequency and said second received frequency, and said first velocity magnitude |vr| to provide an estimate of location of the selected source.
Dependencies are inferred from the claim text.