Motion parameter estimation of AUV based on underwater acoustic Doppler frequency measured by single hydrophone

Abstract

This paper describes the use of a single hydrophone to estimate the motion parameters of an autonomous underwater vehicle (AUV) from the underwater acoustic signal excited by its propulsion motor. First, the frequency range of the hydroacoustic signal radiated by the AUV motor is determined, and a detection and recognition model is designed. In the case of uniform linear motion of the AUV, the geometric relationship between the Doppler frequency shift curve of the sound source is derived and the motion model of the sound source and sound line propagation is established. An estimation algorithm for the motion parameters of multiple AUVs based on data from a single hydrophone is derived. Then, for Doppler underwater acoustic signals disturbed by independent identically distributed noise with an arbitrary probability distribution, a cumulative phase difference power amplification instantaneous frequency estimation method is proposed. This method is based on the sum of multiple logarithmic functions. Finally, the effectiveness and accuracy of the algorithm in estimating the motion parameters of multiple AUVs are verified through simulations and experiments.