Maritime vehicle tracking using underwater gliders and particle filters

Ioannis Kyriakides, Ehsan Abdi, Daniel Hayes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

A major difficulty in tracking unidentified vessels at sea is due to the need to observe large areas for long periods of time for sparsely appearing targets. A possible solution is to use a network of energy efficient underwater gliders that use buoyancy engines and are equipped with sensor array, processing, and communication hardware. Gliders, however, have a limited size and payload which limits the length of their sensor array and the capabilities of their power, processing, and communication modules. This reduces the resolution of measurements that can be collected and processed on board of gliders and be communicated to a fusion center for accurate target tracking. In this work, we propose the use of adaptive compressive sensing and processing to enable accurate target tracking while using low signal acquisition, processing, and communication rates, short sensor array lengths, and simplified sensing and processing hardware hosted on gliders. Moreover, we propose a particle filtering method to fuse data from multiple sensing nodes and process sensor array measurements with non-linear, non-Gaussian relationship to the target state. A simulation based scenario of tracking a single target by four underwater gliders is used to evaluate the effectiveness of the method.

Original languageEnglish
Title of host publication2016 4th International Workshop on Compressed Sensing Theory and its Applications to Radar, Sonar and Remote Sensing, CoSeRa 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages51-55
Number of pages5
ISBN (Electronic)9781509029204
DOIs
Publication statusPublished - 15 Nov 2016
Event4th International Workshop on Compressed Sensing Theory and its Applications to Radar, Sonar and Remote Sensing, CoSeRa 2016 - Aachen, Germany
Duration: 19 Sep 201623 Sep 2016

Other

Other4th International Workshop on Compressed Sensing Theory and its Applications to Radar, Sonar and Remote Sensing, CoSeRa 2016
CountryGermany
CityAachen
Period19/09/1623/09/16

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  • Cite this

    Kyriakides, I., Abdi, E., & Hayes, D. (2016). Maritime vehicle tracking using underwater gliders and particle filters. In 2016 4th International Workshop on Compressed Sensing Theory and its Applications to Radar, Sonar and Remote Sensing, CoSeRa 2016 (pp. 51-55). [7745698] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CoSeRa.2016.7745698