JZUS - Journal of Zhejiang University SCIENCE

Frontiers of Information Technology & Electronic Engineering

Accepted manuscript available online (unedited version)

Joint autonomous underwater vehicle and underwater sensor net-works target tracking for underwater applications

Author(s): Zhaohong LV, Zhenkai ZHANG, Boonchong SEET, Yi YANG
Affiliation(s): Ocean College, Jiangsu University of Science and Technology, Zhenjiang, 212003, China; more
Corresponding email(s): zhangzhenkai@just.edu.cn
Key Words: Underwater sensor networks; Target tracking; Time delay estimation; Autonomous underwater vehicles

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Zhaohong LV, Zhenkai ZHANG, Boonchong SEET, Yi YANG. Joint autonomous underwater vehicle and underwater sensor net-works target tracking for underwater applications[J]. Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/FITEE.2400869

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author="Zhaohong LV, Zhenkai ZHANG, Boonchong SEET, Yi YANG",
journal="Frontiers of Information Technology & Electronic Engineering",
year="in press",
publisher="Zhejiang University Press & Springer",
doi="https://doi.org/10.1631/FITEE.2400869"
}

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%T Joint autonomous underwater vehicle and underwater sensor net-works target tracking for underwater applications
%A Zhaohong LV
%A Zhenkai ZHANG
%A Boonchong SEET
%A Yi YANG
%J Frontiers of Information Technology & Electronic Engineering
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%@ 2095-9184
%D in press
%I Zhejiang University Press & Springer
doi="https://doi.org/10.1631/FITEE.2400869"

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T1 - Joint autonomous underwater vehicle and underwater sensor net-works target tracking for underwater applications
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A1 - Zhenkai ZHANG
A1 - Boonchong SEET
A1 - Yi YANG
J0 - Frontiers of Information Technology & Electronic Engineering
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Y1 - in press
PB - Zhejiang University Press & Springer
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doi="https://doi.org/10.1631/FITEE.2400869"

Abstract
Chinese Summary
Academic Network
Reviewer Comment

Abstract: Because underwater sensor networks (USNs) have limited energy resources due to environmental constraints, it is essential to improve energy utilization. For this purpose, an autonomous underwater vehicle (AUV) with greater onboard com-putation power is utilized to process measurement data, and the mobility of the AUV is leveraged to optimize the USN topology, enhancing tracking accuracy. First, to address the transmission delay of underwater acoustic signals, a centralized extended Kalman filter incorporating a time delay estimation (TD-CEKF) algorithm is proposed. Next, the mathematical relationship between AUV position and USN topology is established, based upon which the optimization target is constructed. Subsequently, the penalty function is introduced to remove the constraints from the objective function, and the optimal AUV position is searched using the gradient descent method to optimize the USN topology. The simulation results demonstrate that the proposed algorithm can effectively overcome the influence of transmission delay on tracking and achieve improved tracking performance.

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