Motion parameter estimation of AUV based on underwater acoustic Doppler frequency measured by single hydrophone

This paper describes the use of a single hydrophone to estimate motion parameters an autonomous underwater vehicle (AUV) from acoustic signal excited by its propulsion motor. First, frequency range hydroacoustic radiated AUV motor is determined, and detection recognition model designed. In case uniform linear AUV, geometric relationship between Doppler shift curve sound source derived line propagation established. An estimation algorithm for multiple AUVs based on data derived. Then, signals disturbed independent identically distributed noise with arbitrary probability distribution, cumulative phase difference power amplification instantaneous method proposed. sum logarithmic functions. Finally, effectiveness accuracy in estimating are verified through simulations experiments.