Underwater Localization by combining Time-of-Flight and Direction-of-Arrival

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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    Abstract

    In this paper we present a combined ToF and DoA localization approach suitable for shallow underwater monitoring applications such as harbor monitoring. Our localization approach combines one-way ranging and DoA estimation to calculate both position and time-synchronization of the blind-node. We will show that using this localization approach, we are able to reduce the number of reference nodes required to perform localization. By combining ToF and DoA, our approach is also capable of tracking and positioning of sound sources under water. We evaluate our approach through both simulation and underwater experiments in a ten meter deep dive-center (which has many similarities with our target application in terms of depth and reflection). Measurements taken at the dive-center show that this environment is highly reflective and resembles a shallow water harbor environment. Positioning results using the measured ToA and DoA indicate that the DoA approach outperforms the ToF approach in our setup. Investigation of the DoA and ToF measurement error distributions, however, indicate the ToF-based localization approach has a higher precision. Shown is that both ToF and DoA and the combined approach achieve sub-meter positional accuracy in the test environment. Using the error distributions derived from the measurement in the dive-center, we run simulations of the same setup. Results from the simulation indicate ToF is more accurate than DoA positioning. Also in simulation all approaches achieve sub-meter accuracy.
    Original languageUndefined
    Title of host publicationProceedings of the Oceans 2014 MTS/IEEE Conference
    Place of PublicationTaipei
    PublisherIEEE Computer Society
    Pages1-6
    Number of pages6
    ISBN (Print)978-1-4799-3645-8
    DOIs
    Publication statusPublished - 7 Apr 2014

    Publication series

    Name
    PublisherIEEE Computer Society

    Keywords

    • EWI-24490
    • METIS-305857
    • IR-91407

    Cite this

    van Kleunen, W. A. P., Blom, K. C. H., Meratnia, N., Kokkeler, A. B. J., Havinga, P. J. M., & Smit, G. J. M. (2014). Underwater Localization by combining Time-of-Flight and Direction-of-Arrival. In Proceedings of the Oceans 2014 MTS/IEEE Conference (pp. 1-6). Taipei: IEEE Computer Society. https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964309
    van Kleunen, W.A.P. ; Blom, K.C.H. ; Meratnia, Nirvana ; Kokkeler, Andre B.J. ; Havinga, Paul J.M. ; Smit, Gerardus Johannes Maria. / Underwater Localization by combining Time-of-Flight and Direction-of-Arrival. Proceedings of the Oceans 2014 MTS/IEEE Conference. Taipei : IEEE Computer Society, 2014. pp. 1-6
    @inproceedings{1a049c2a85ed4a3ab18aba9a1d1b3daa,
    title = "Underwater Localization by combining Time-of-Flight and Direction-of-Arrival",
    abstract = "In this paper we present a combined ToF and DoA localization approach suitable for shallow underwater monitoring applications such as harbor monitoring. Our localization approach combines one-way ranging and DoA estimation to calculate both position and time-synchronization of the blind-node. We will show that using this localization approach, we are able to reduce the number of reference nodes required to perform localization. By combining ToF and DoA, our approach is also capable of tracking and positioning of sound sources under water. We evaluate our approach through both simulation and underwater experiments in a ten meter deep dive-center (which has many similarities with our target application in terms of depth and reflection). Measurements taken at the dive-center show that this environment is highly reflective and resembles a shallow water harbor environment. Positioning results using the measured ToA and DoA indicate that the DoA approach outperforms the ToF approach in our setup. Investigation of the DoA and ToF measurement error distributions, however, indicate the ToF-based localization approach has a higher precision. Shown is that both ToF and DoA and the combined approach achieve sub-meter positional accuracy in the test environment. Using the error distributions derived from the measurement in the dive-center, we run simulations of the same setup. Results from the simulation indicate ToF is more accurate than DoA positioning. Also in simulation all approaches achieve sub-meter accuracy.",
    keywords = "EWI-24490, METIS-305857, IR-91407",
    author = "{van Kleunen}, W.A.P. and K.C.H. Blom and Nirvana Meratnia and Kokkeler, {Andre B.J.} and Havinga, {Paul J.M.} and Smit, {Gerardus Johannes Maria}",
    year = "2014",
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    language = "Undefined",
    isbn = "978-1-4799-3645-8",
    publisher = "IEEE Computer Society",
    pages = "1--6",
    booktitle = "Proceedings of the Oceans 2014 MTS/IEEE Conference",
    address = "United States",

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    van Kleunen, WAP, Blom, KCH, Meratnia, N, Kokkeler, ABJ, Havinga, PJM & Smit, GJM 2014, Underwater Localization by combining Time-of-Flight and Direction-of-Arrival. in Proceedings of the Oceans 2014 MTS/IEEE Conference. IEEE Computer Society, Taipei, pp. 1-6. https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964309

    Underwater Localization by combining Time-of-Flight and Direction-of-Arrival. / van Kleunen, W.A.P.; Blom, K.C.H.; Meratnia, Nirvana; Kokkeler, Andre B.J.; Havinga, Paul J.M.; Smit, Gerardus Johannes Maria.

    Proceedings of the Oceans 2014 MTS/IEEE Conference. Taipei : IEEE Computer Society, 2014. p. 1-6.

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    TY - GEN

    T1 - Underwater Localization by combining Time-of-Flight and Direction-of-Arrival

    AU - van Kleunen, W.A.P.

    AU - Blom, K.C.H.

    AU - Meratnia, Nirvana

    AU - Kokkeler, Andre B.J.

    AU - Havinga, Paul J.M.

    AU - Smit, Gerardus Johannes Maria

    PY - 2014/4/7

    Y1 - 2014/4/7

    N2 - In this paper we present a combined ToF and DoA localization approach suitable for shallow underwater monitoring applications such as harbor monitoring. Our localization approach combines one-way ranging and DoA estimation to calculate both position and time-synchronization of the blind-node. We will show that using this localization approach, we are able to reduce the number of reference nodes required to perform localization. By combining ToF and DoA, our approach is also capable of tracking and positioning of sound sources under water. We evaluate our approach through both simulation and underwater experiments in a ten meter deep dive-center (which has many similarities with our target application in terms of depth and reflection). Measurements taken at the dive-center show that this environment is highly reflective and resembles a shallow water harbor environment. Positioning results using the measured ToA and DoA indicate that the DoA approach outperforms the ToF approach in our setup. Investigation of the DoA and ToF measurement error distributions, however, indicate the ToF-based localization approach has a higher precision. Shown is that both ToF and DoA and the combined approach achieve sub-meter positional accuracy in the test environment. Using the error distributions derived from the measurement in the dive-center, we run simulations of the same setup. Results from the simulation indicate ToF is more accurate than DoA positioning. Also in simulation all approaches achieve sub-meter accuracy.

    AB - In this paper we present a combined ToF and DoA localization approach suitable for shallow underwater monitoring applications such as harbor monitoring. Our localization approach combines one-way ranging and DoA estimation to calculate both position and time-synchronization of the blind-node. We will show that using this localization approach, we are able to reduce the number of reference nodes required to perform localization. By combining ToF and DoA, our approach is also capable of tracking and positioning of sound sources under water. We evaluate our approach through both simulation and underwater experiments in a ten meter deep dive-center (which has many similarities with our target application in terms of depth and reflection). Measurements taken at the dive-center show that this environment is highly reflective and resembles a shallow water harbor environment. Positioning results using the measured ToA and DoA indicate that the DoA approach outperforms the ToF approach in our setup. Investigation of the DoA and ToF measurement error distributions, however, indicate the ToF-based localization approach has a higher precision. Shown is that both ToF and DoA and the combined approach achieve sub-meter positional accuracy in the test environment. Using the error distributions derived from the measurement in the dive-center, we run simulations of the same setup. Results from the simulation indicate ToF is more accurate than DoA positioning. Also in simulation all approaches achieve sub-meter accuracy.

    KW - EWI-24490

    KW - METIS-305857

    KW - IR-91407

    U2 - 10.1109/OCEANS-TAIPEI.2014.6964309

    DO - 10.1109/OCEANS-TAIPEI.2014.6964309

    M3 - Conference contribution

    SN - 978-1-4799-3645-8

    SP - 1

    EP - 6

    BT - Proceedings of the Oceans 2014 MTS/IEEE Conference

    PB - IEEE Computer Society

    CY - Taipei

    ER -

    van Kleunen WAP, Blom KCH, Meratnia N, Kokkeler ABJ, Havinga PJM, Smit GJM. Underwater Localization by combining Time-of-Flight and Direction-of-Arrival. In Proceedings of the Oceans 2014 MTS/IEEE Conference. Taipei: IEEE Computer Society. 2014. p. 1-6 https://doi.org/10.1109/OCEANS-TAIPEI.2014.6964309