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Research Article

Acoustic range estimation of underwater vehicle with outlier elimination

특이값 제거 기법을 적용한 수중 이동체의 음향 거리 추정

Kyung-won Lee1
,
Dan-bi Ou1
,
Ki-man Kim1*
,
Tae Hyeong Kim2
,
Heechang Lee2
이 경원1
,
오 단비1
,
김 기만1*
,
김 태형2
,
이 희창2
1한국해양대학교
2국방과학연구소
*Corresponding Author
31 July 2024. pp. 383-390
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Abstract

When measuring the radiated noise of an underwater vehicle, the range information between the vehicle and the receiver is an important factor, but since Global Positioning System (GPS) is not available in underwater, an alternative method is needed. As an alternative, the range is measured by estimating the arrival time, arrival time difference, and arrival frequency difference using a separate acoustic signal. However, errors occur due to the channel environment, and these outliers become obstacles in continuously measuring range. In this paper, we propose a method to reduce errors by curve fitting with a function in the form of a V-curve as a post-processing to remove outliers that occurred in the process of measuring range information. Simulation, lake and sea trials were conducted to verify the performance of the proposed method. In the results of the lake trial, the range estimation error was reduced by about 85 % from the Root Mean Square Error (RMSE) point of view.

Keywords
Underwater radiated noise measurement
Outlier elimination
Range estimation
V-curve
Curve fitting

수중 이동체의 방사소음을 측정하는 경우 이동체와 수신기 사이의 거리 정보가 중요한 요소이지만 수중에서는 Global Positioning System(GPS)를 사용할 수 없기 때문에 대체 수단이 필요하다. 대체 수단으로써 별도의 음향신호를 이용하여 도달 시간, 도달 시간 차 및 도달 주파수 차 등을 추정하여 거리를 측정한다. 하지만 채널 환경에 의해 오류가 발생하며, 이러한 특이값들은 연속적으로 거리를 측정함에 있어서 장애 요인이 된다. 본 논문에서는 거리 정보를 측정하는 과정에서 발생한 특이값들을 제거하기 위하여 사후 처리로써 V-곡선 형태의 함수로 곡선 적합하여 오류를 감소시키는 방법을 제안한다. 제안한 방법의 성능검증을 위해 모의, 호수 및 해상실험을 수행하였다. 호수실험 결과에서는 Root Mean Square Error(RMSE) 관점에서 약 85 % 정도로 거리 추정 오차가 감소하였다.

키워드
수중 방사소음 측정
특이값 제거
거리 추정
V-곡선
곡선 적합
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Information
  • Publisher :The Acoustical Society of Korea
  • Publisher(Ko) :한국음향학회
  • Journal Title :The Journal of the Acoustical Society of Korea
  • Journal Title(Ko) :한국음향학회지
  • Volume : 43
  • No :4
  • Pages :383-390
  • Received Date : 2023-09-14
  • Revised Date : 2024-01-16
  • Accepted Date : 2024-03-18
  • DOI :https://doi.org/10.7776/ASK.2024.43.4.383
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