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

• Type: Article in International Scientific Journal
• Date: 2023

Authors

Graca, PA (Author) Other; José Carlos Alves (Author) FEUP; Bruno Ferreira (Author) FEUP

Journal

Title: Sensors

Vol. 23

Final page: 6316

ISSN: 1424-3210

Publisher: MDPI

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 0 Citations

Other information

Authenticus ID: P-00Y-NKH

DOI: 10.3390/s23146316

Abstract (EN): 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 24