Optimal Measurement Location Planning for Localizing Underwater Transponders

Jesse Garcia, Jay A. Farrell, Zaher M. Kassas

Abstract:	An autonomous surface vehicle optimally plans acoustic measurement locations to localize a set of pre-deployed underwater transponders (UTs). Once localized, these transponders could serve as reference beacons for underwater navigation. An optimal measurement location planning (OMLP) strategy, in the D-optimality sense, is developed to localize this set of UTs. It is shown that the matrix optimization criterion corresponding to the D-optimality criterion simplifies to a scalar optimization problem for single UT environments. Simulation results are presented demonstrating the computational benefit of this simplification over the standard D-optimality criterion. Experimental results are given illustrating the proposed OMLP strategy to localize one and two unknown UTs to within a few meters.
Published in:	2018 IEEE/ION Position, Location and Navigation Symposium (PLANS) April 23 - 26, 2018 Hyatt Regency Hotel Monterey, CA
Pages:	480 - 486
Cite this article:	Garcia, Jesse, Farrell, Jay A., Kassas, Zaher M., "Optimal Measurement Location Planning for Localizing Underwater Transponders," 2018 IEEE/ION Position, Location and Navigation Symposium (PLANS), Monterey, CA, April 2018, pp. 480-486.
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