ANNA UNIVERSITY – MIT CAMPUS

DEPARTMENT OF ELECTRONICS ENGINEERING

Localization and Tracking of

Submarine

Mentor: Team Members:

Mrs.G.Sumithra, R.Rajeswari-2015504571
Asst.Professor, B.Merlin Mercy-2015504563
Department of Electronics
A.Asarudeen-2015504017
Engineering.

1
Objective

To design an algorithm to localize and track the

submarine.

2
Table of Contents

1. Introduction
2. Application
3. Challenges
4. Literature Survey
5. Methodology
6. Block diagram
7. References

3
Introduction
Sensors:

A Device that receives and respond to a signal or stimulus. Machine

senses through sensors.

Wireless Sensor Networks(WSN):

WSN refers to a group of spatially dispersed and dedicated sensors for

monitoring and recording the physical conditions of the environment and
organizing the collected data at a central location. WSNs measure
environmental conditions like temperature, sound, pollution levels,
humidity, wind, and so on.

Underwater Acoustic Sensor Networks(UW-ASN):

UW-ASN is a group of sensors and vehicles deployed underwater and

networked via acoustic links, performing collaborative tasks.
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Applications

1. Ocean Sampling network

2. Environmental monitoring
3. Undersea Explorations
4. Disaster prevention
5. Seismic Monitoring
6. Equipment monitoring
7. Assisted Navigation
8. Distributed Tactical Surveillance
9. Mine Reconnaissance
10.Underwater target tracking

5
Challenges

1. High propagation delay.

2. Radio waves are strongly attenuated in salt water.
3. Energy conservation is difficult.
4. Underwater sensors are prone to failures because of fouling and
corrosion.
5. The available bandwidth is severely limited.
6. The underwater channel is impaired because of multipath and fading.
7. Battery power is limited and usually batteries cannot be recharged.

6
Literature Survey
[1]. Sleep. S.R, “ An adaptive belief representation for target tracking using
disparate sensors in wireless sensor networks,” In Proceedings of the
International Conference on Information Fusion, Istanbul, Turkey, 9–12 July
2013; pp. 2073–2080.

The systems based on varieties of sensors can be adopted to

detect and track the interested target .

[2]. Chen W.P, Jennifer C.H, Sha.L, “Dynamic clustering for acoustic target
tracking in wireless sensor networks,” IEEE Trans. Mob. Comput. 2004, 3,
258–271, doi:10.1109/TMC.2004.22.

In this project, the acoustic sensors are utilized to detect and track targets
by judging whether the strength of the received acoustic signal exceeds a
predefined threshold.

7
CONTINUED…

[3]. Jin. X, Sarkar.S , Gupta.S, Damarla. T, “Target detection and

classification using seismic and PIR sensors,”IEEE Sens. J. 2012, 12, 1709–
1718.

Since vibrations can be used to distinguish targets with different speeds

and weights, the system making use of the properties of seismic and passive
infrared sensors for detection and classification of humans, animals, and
vehicles is proposed in the above mentioned paper.

[4]. M. Hahn and J. Rice, “Undersea navigation via a distributed acoustic

communication network,” in Proc. Turkish Int. Conf. Acoust., Istanbul,
Turkey, Jul. 2005.

Here, target tracking is the main objective; but, the energy

expenditure,which is very important for UWSNs, is not taken into account.

[5]. S. Zhou and P. Willett , “Submarine location estimation via a network of

detection-only sensors,” IEEE Trans. Signal Process., vol. 55, no. 6,pp.
3104–3115, Jun. 2007. 8
CONTINUED…

Instead of proposing a complete tracking scheme, only location

estimation is discussed in this paper.

[6]. C. Yu, K. Lee, J. Choi and Y. Seo, “Distributed single target tracking in
underwater wireless sensor networks,” in Proc. SICE Annu. Conf., Tokyo,
Japan, Aug. 2008, pp. 1351–1356.

In this paper, the wake-up/sleep mechanism is used to select several

nodes, and the valid measurement selecting mechanism is used to reduce the
number of awake sensor nodes.

[7]. Q. Liang and X. Cheng, “Underwater acoustic sensor networks: Target

size detection and performance analysis,” Ad Hoc Netw. (Elsevier), vol. 7, no.
4, pp. 803–808, Jun. 2009.

Here, a maximum likelihood estimation algorithm is proposed for

underwater target size detection, and a complete tracking mechanism is not
provided.
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Methodology
• Tracking starts when the acoustic noise of a target is detected by the
sensor nodes.

• The distances of the sensor nodes to the target are estimated.

• The location of the target is then obtained by employing trilateration

method.

• To achieve tracking, the velocity and the projected location of the

target are calculated.

• Based on these calculations, the nodes along the path of the target can
be activated to continuously collect information about the target.

• This process continues until there is no signal that is received from the
target.
10
Flow Chart

Initialisation

Passive listening

Active ranging

Target estimation

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Work Plan:

1st review: Submarine Localization using Haversine and Trilateration

method.

2nd review: State Estimation and Noise Filtering Using Kalman Filter.

3rd review: Energy Conservation using Wake up / Sleep Mechanism

and Valid Measurement Selecting Mechanism.

12
References
[1]. Sleep S.R , “ An adaptive belief representation for target tracking using disparate
sensors in wireless sensor networks,” In Proceedings of the International Conference
on Information Fusion, Istanbul, Turkey, 9–12 July 2013; pp. 2073–2080.
[2]. Chen W.P,Jennifer, C.H.Sha. L, “ Dynamic clustering for acoustic target tracking
in wireless sensor networks,”IEEE Trans. Mob. Comput. 2004, 3, 258–271,
doi:10.1109/TMC.2004.22.
[3]. Jin, X, Sarkar, S, Gupta, S, Damarla. T,“ Target detection and classification using
seismic and PIR sensors,” IEEE Sens. J. 2012, 12, 1709–1718.
[4]. M. Hahn and J. Rice, “Undersea navigation via a distributed acoustic
communication network ,” in Proc. Turkish Int. Conf. Acoust., Istanbul, Turkey, Jul.
2005.
[5]. S. Zhou and P. Willett, “Submarine location estimation via a network of detection-
only sensors ,” IEEE Trans. Signal Process, vol. 55, no. 6,pp. 3104–3115, Jun. 2007.
[6]. C. Yu, K. Lee, J. Choi, and Y. Seo, “Distributed single target tracking in
underwater wireless sensor networks,” in Proc. SICE Annu. Conf, Tokyo, Japan, Aug.
2008, pp. 1351–1356.
[7]. Q. Liang and X. Cheng, “Underwater acoustic sensor networks: Target size
detection and performance analysis,” Ad Hoc Netw. (Elsevier), vol. 7, no. 4, pp. 803–
808, Jun. 2009.
13
Thank You !

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