Sensor Placement in an Irregular 3D Surface for Improving Localization Accuracy Using a Multi-Objective Memetic Algorithm

Accurate localization is a critical task in underwater navigation. Typical localization methods use a set of acoustic sensors and beacons to estimate relative position, whose geometric configuration has a significant impact on the localization accuracy. Although there is much effort in the literatur...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Vol. 23; no. 14; p. 6316
Main Authors: Graça, Paula A., Alves, José C., Ferreira, Bruno M.
Format: Journal Article
Language:English
Published: Switzerland MDPI AG 11.07.2023
MDPI
Subjects:
3D sensor placement
Acoustics
Algorithms
Analysis
Autonomous underwater vehicles
Case studies
Fisher information matrix
Genetic algorithms
Heuristic
Localization
Mathematical optimization
memetic algorithm
Methods
multi-objective optimization
Optimization
Receivers & amplifiers
Remote submersibles
Sensors
Technology application
ultra-short baseline
underwater acoustic localization
memetic algorithm
ultra-short baseline
underwater acoustic localization
3D sensor placement
Cramer-Rao Lower Bound
multi-objective optimization
incidence angle
Fisher information matrix
ISSN:1424-8220, 1424-8220
Online Access:Get full text
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Summary:Accurate localization is a critical task in underwater navigation. Typical localization methods use a set of acoustic sensors and beacons to estimate relative position, whose geometric configuration has a significant impact on the localization accuracy. Although there is much effort in the literature to define optimal 2D or 3D sensor placement, the optimal sensor placement in irregular and constrained 3D surfaces, such as autonomous underwater vehicles (AUVs) or other structures, is not exploited for improving localization. Additionally, most applications using AUVs employ commercial acoustic modems or compact arrays, therefore the optimization of the placement of spatially independent sensors is not a considered issue. This article tackles acoustic sensor placement optimization in irregular and constrained 3D surfaces, for inverted ultra-short baseline (USBL) approaches, to improve localization accuracy. The implemented multi-objective memetic algorithm combines an evaluation of the geometric sensor’s configuration, using the Cramer-Rao Lower Bound (CRLB), with the incidence angle of the received signal. A case study is presented over a simulated homing and docking scenario to demonstrate the proposed optimization algorithm.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s23146316