{"title":"Estimating the Coordinates of Mobile Marine Robots Using Vector–Scalar Arrays Permanently Installed in a Waveguide","authors":"G. M. Glebova, G. A. Zhbankov, G. N. Kuznetsov","doi":"10.1134/S1063771024601602","DOIUrl":null,"url":null,"abstract":"<p>An experimental verification of the possibility of estimating the coordinates of a mobile marine robot using spatially offset small-sized vector–scalar arrays, a broadband source placed on board the robot, and a remote polyharmonic permanently installed source—a beacon, which is used to eliminate bearing shifts caused by rotating receiving arrays under the action of underwater currents. It is shown that the use of technical means installed in the waveguide makes it possible to solve the triangulation problem and determine the horizontal coordinates of the robot, while taking into account the ray structure provides a depth estimate.</p>","PeriodicalId":455,"journal":{"name":"Acoustical Physics","volume":"70 2","pages":"314 - 324"},"PeriodicalIF":0.9000,"publicationDate":"2024-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Acoustical Physics","FirstCategoryId":"101","ListUrlMain":"https://link.springer.com/article/10.1134/S1063771024601602","RegionNum":4,"RegionCategory":"物理与天体物理","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ACOUSTICS","Score":null,"Total":0}
引用次数: 0
Abstract
An experimental verification of the possibility of estimating the coordinates of a mobile marine robot using spatially offset small-sized vector–scalar arrays, a broadband source placed on board the robot, and a remote polyharmonic permanently installed source—a beacon, which is used to eliminate bearing shifts caused by rotating receiving arrays under the action of underwater currents. It is shown that the use of technical means installed in the waveguide makes it possible to solve the triangulation problem and determine the horizontal coordinates of the robot, while taking into account the ray structure provides a depth estimate.
期刊介绍：
Acoustical Physics is an international peer reviewed journal published with the participation of the Russian Academy of Sciences. It covers theoretical and experimental aspects of basic and applied acoustics: classical problems of linear acoustics and wave theory; nonlinear acoustics; physical acoustics; ocean acoustics and hydroacoustics; atmospheric and aeroacoustics; acoustics of structurally inhomogeneous solids; geological acoustics; acoustical ecology, noise and vibration; chamber acoustics, musical acoustics; acoustic signals processing, computer simulations; acoustics of living systems, biomedical acoustics; physical principles of engineering acoustics. The journal publishes critical reviews, original articles, short communications, and letters to the editor. It covers theoretical and experimental aspects of basic and applied acoustics. The journal welcomes manuscripts from all countries in the English or Russian language.
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