Acoustic multipath identification with expectation-maximization
- 1 January 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 5, 2388-2396 Vol.5
- https://doi.org/10.1109/oceans.2003.178287
Abstract
Deep-sea autonomous positioning is susceptible to unmodeled measurement errors. Acoustic range measurements for long baseline navigation are not normally distributed, a situation that erodes the robustness and precision of estimation techniques. A mixed-distribution model captures the combination of direct-path, multipath, and spurious returns common for acoustic localization in limited-range survey. Expectation-Maximization concurrently identifies the parameters of the model and characterizes the observations, converging on a model for homogeneous instrumented environments. The resulting representation aids autonomous navigation for precision applications.Keywords
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