objective

To find the range, azimuth and elevation angle of a UUV from a reference platform.

Point A is assigned as the coordinate origin in the measurement. Assuming at t <0, the target rests at its dock and its position is known as B= {ro, o, o}T where ro is the initial slant range, o is the initial azimuth angle and o is the initial elevation angle. At t =0, the target receives the command signal from the reference platform at A through the tethered cable, and leaves its initial position B for the intended mission. The new position of the target is denoted as B1 = {r, , }T .The task of the positioning system is to estimate the new position

underwater positioning using phase measurement

This method conducts positioning via continuous phase measurement between a reference signal and the acoustic signal transmitted by the target to the reference platform. It is named the Positioning-based-on-PHaseMeasurement method or PPHM method in short. Every 2 change in the phase difference between these two signals corresponds to a one wavelength range increment along the radial direction from the targets initial position to its new position. If a receiver array is used, with at least two hydrophones, the targets bearing information can be also calculated by measuring the phases of the output signals from each of the array hydrophones.

certain important features :

The proposed method is based on continuous phase monitoring of acoustic signals. The PPHM method measures the relative range increment between the reference platform and the target, instead of the targets absolute coordinates. The PPHM method can track the trajectory of a moving target continuously in real-time.

Assume there is a receiver at Point A and a transmitter at Point B. The distance between A and B is r0. A sinusoidal signal given is sent out from B to A.where fo is the signal frequency. The received signal is given at A is given bywhereis the phase delay caused by ro and c is the velocity of the signals in water.

The range increment r = AB1 -AB will cause a phase shift (or (t ) if the targets speed is not constant) in the received signal at A as below:whereany range increment r induces the phase shift in the received signal. To estimate r , firstly an estimate of the phase shift, , is obtained using a phase detector, and then converted into r as:whereis the number of 2 phase flips in r

Received signals from B (dash line) and B1 (dot-dash line) with reference signal ( solid line). Only two periods of the signals are shown for representation.

An UUV (sender) emits an acoustic ping from the bow (front) end or from the stern (rear) end. These pings constitute one sending event.

Given is the set-up of the receiver hydrophones. The spacing between the hydrophones is called as d. The pole of the co-ordinate frame lies at the center of the line joining the two points and the polar axis passes through this and is perpendicular to the line

range measurement
The received signal contains the acoustic signal from the target and the noise, as shown belowwhere n(t) is the noise. is recovered using a phase detector, then converted into the estimate of the slant range increment r . The targets new position in terms of range will be

Phase AmbiguityConventional phase detectors usually require the inverse tangent computation to get . The inverse tangent function is a many-to-one function. All values of outside the interval (- , ) will be mapped back into this interval. However, as r increases, will go beyond (- , ) . The phase obtained from the phase detector cannot correctly reflect the range increment. Resolving Phase AmbiguityTo resolve it, one straightforward solution is to monitor continuously to detect any jumps bigger than 2 . It requires a sufficiently high sampling rate. These jumps are then corrected by adding a factor of 2 to all subsequent terms in the sequence. This procedure is called phase unwrapping. The unwrapped phase is:where n is the number of phase jumps.

Block Diagram for tracking a Moving Target.

doa measurement
At t=t1, the target signal hits Receiver A1 and at t=t2 it hits Receiver A2. From the geometry of the receive array shown, the difference in signals arrival times, t=t1t2, is related to aswhere 1 and 2 are the phases of the signals received at Receiver A1 and A2 as compared to the reference signal, respectively

The estimated azimuth angle is obtained as:

Block Diagram for Azimuth Angle Measurement.

elevation angle
The same concept can be used to measure the elevation angle . For this purpose, another receiver array with at least two receivers is need. This array should be perpendicular to the array for azimuth angle measurement

envelope extraction
To remove the negative frequency components , the real-valued signals analytic representation is needed. The analytical representation of the sinusoidal signal s1(t) is written as:The phase of s1(t) will then be retrieved as:

If s1(t) is corrupted by the noise and the received signal at the receiver is x(t), the analytical solution is re-written as:

Phase Detection Using Envelope Extraction.

phase unwrapping
In practice, the phase will be wrapped between and . In a discrete-time sampled data system the received data can expressed asWhen r> > 2 , the phase difference can be registered only modulo 2 . The technique for phase unwrapping is to search the phase sequentially for jumps in phase greater than , the assumption being that the phase changes at a rate slower than radians per sample. These jumps are then corrected by adding a factor of 2 to all subsequent terms in the sequence. If phase n is wrapped and phase n is unwrapped, we have:

simulation of an amplitude modulated single tone signal with varying modulating index

Modulating signal: bs = Am * cos(2 * pi * fm * t); Modulated signal: Ac*(1 + a* bs) cos(2 * pi * fc * t); Am = 1; Ac = 10; Modulating Index, a = .5; Carrier Frequency, Fc = 100 Hz; Frequency of modulating signal, Fm = 10Hz.

Modulating Index, a = .5; Carrier Frequency, Fc = 500 Hz; Frequency of modulating signal, Fm = 10Hz.

Modulating Index, a = .95; Carrier Frequency, Fc = 100 Hz; Frequency of modulating signal, Fm = 10Hz.

Modulating Index, a = .95; Carrier Frequency, Fc = 500 Hz; Frequency of modulating signal, Fm = 10Hz.

observations
On increasing modulating index (< 1), size of envelopes in the extraction increases ie energy inside envelope increases. On increasing carrier frequency, oscillations within one period of any envelope increases which makes envelopes smoother. When modulating index is greater than 1, both envelopes crosses each other at their zero crossings, which led to phase reversal of modulating signal at those points.

simulation of an fm signal with a single tone sinusoidal modulating signal.

RED: FREQUENCY MODULATED SIGNAL BLUE: MODULATING SIGNAL Carrier Frequency = 1000Hz Frequency of modulating signal = 50Hz Kf = 0.1; Am = 10

Frequency Spectrum of the earlier modulated signal.Bandwidth : 1100 Hz

noise : gaussian random process

The Autocorrelation function The time axis is not adjusted according to the time reference. But we can see its qualitative nature.

We get a flat PSD which is the fourier transform of the autocorrelation function

noise, z = x2 + y2, where x and y are gaussian distributed real-valued random variables with unit variance and zero mean.

The probability distribution function of the above distribution.

envelope detector am signal

Modulating Index, a = .5; Carrier Frequency, Fc = 5000 Hz; Frequency of modulating signal, Fm = 10Hz.

Modulating Index, a = .5; Carrier Frequency, Fc = 500 Hz; Frequency of modulating signal, Fm = 10Hz.

Modulating Index, a = .95; Carrier Frequency, Fc = 500 Hz; Frequency of modulating signal, Fm = 10Hz.

Modulating Index, a = 1.2; Carrier Frequency, Fc = 500 Hz; Frequency of modulating signal, Fm = 10Hz.

Modulating Index, a = 2; Carrier Frequency, Fc = 500 Hz; Frequency of modulating signal, Fm = 10Hz.

observations
Greater carrier frequency is better extracted, using envelope detector technique. As modulating index increases, distortion in demodulated signal using envelope detector technique increases. Waveform with a = 2 is more distorted than with a = 1.2. When modulation index is greater than 1, original signal cannot be retrieved using envelope detector technique.

under-modulated signal

envelope detectors output of under-modulated signal

fm signal

distorted message signal after envelope detection

in the plot, the snr is infinite. the sampling rate used is 1000 and the center frequency of the signal is 200. i have used three different delays (delay = 2, 4, 8). the plots of these delays are shown.

The arrows at the intersections is to show the ambiguity as does the ambiguity.

increases. In short, while the resolution increases with , so

now, if we look at the phase and frequency output for the same signal with a snr of 2db over the full bandwidth, following are the results

frequency

some interesting features arise when the frequency we are trying to measure is related to the angles pi/4, pi/2, pi etc. because for various can give us a number that is either close to or exactly pi, 2pi, 0 etc. the issue with a number close to 0 or 2pi is the fact that the measured phase will jump between 0 and 2pi with noise. this will also ruin our frequency measurement.

In the above two figures, the SNR is still 2dB but the frequency is now 240. The angular frequency for f = 240 is (240*2pi/1000). For delay of 4, 2pi. With noise, this value of will jump rapidly between 0 and 2pi as noticed in subplot 2 above. Also, for delay of 8, 4pi. Again, this value will jump between 0 and 2pi as shown in subplot 3 above. If you look at the frequency output now, it is quite noisy. A way to alleviate this problem is to unwrap the phase measurements