Towards Fast and Reliable Localization of an Underwater Object: An Interval Approach

摘要

To localize an underwater object, we measure the distance to this object from several sonar sensors with known locations. The problem is that the signal sent by some of the sonars is reflected not by the desired object(s), but by some auxiliary object and thus, the values measured by these sensors are drastically different from the distance to the desired object. To solve this problem, currently probabilistic methods are used; however, since we do not know the exact probability distributions, these methods may miss the actual location of the object. There exist interval-based methods which provide guaranteed (reliable) bounds on the object's location, but these methods sometimes require too much computation time. In this paper, we propose a new faster algorithm for reliable localization of underwater objects.