Cross-correlation tracking for Maximum Length Sequence based acoustic localisation

Proceedings of the 2008 Australasian Conference on Robotics and Automation (ACRA '08), December 2008, Canberra, Australia

Navinda Kottege & Uwe R. Zimmer

While Maximum Length Sequence based cross-correlation and localisation methods are specifically robust with respect to multiple forms of disturbances, the method is still subject of becoming 'side-tracked' by echoes, reverberations and other resonance effects. This article details a method to track the correct reading throughout a series of measurements which is specifically designed for the cross-correlation localisation technique as deployed in underwater environments by the Serafina project. The method is based on the selection of the most likely candidate rather than Kalman filters or other low-pass filters and extrapolation methods. Therefore every individual reading is an actual measurement, rather than an extrapolation.

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