US 11,719,780 B2
Method and apparatus for robust low-cost variable-precision self-localization with multi-element receivers in GPS-denied environments
Dimitris A. Pados, Boca Raton, FL (US); Konstantinos Tountas, Boca Raton, FL (US); and Georgios Sklivanitis, Boca Raton, FL (US)
Assigned to FLORIDA ATLANTIC UNIVERSITY RESEARCH CORPORATION, Boca Raton, FL (US)
Appl. No. 17/622,584
Filed by FLORIDA ATLANTIC UNIVERSITY RESEARCH CORPORATION, Boca Raton, FL (US)
PCT Filed Aug. 28, 2020, PCT No. PCT/US2020/048525
§ 371(c)(1), (2) Date Dec. 23, 2021,
PCT Pub. No. WO2021/101613, PCT Pub. Date May 27, 2021.
Claims priority of provisional application 62/926,843, filed on Oct. 28, 2019.
Prior Publication US 2022/0260663 A1, Aug. 18, 2022
Int. Cl. G01S 1/74 (2006.01); G01S 3/801 (2006.01); G01S 3/802 (2006.01); G01S 5/24 (2006.01); G01S 15/58 (2006.01); G01S 15/60 (2006.01)
CPC G01S 1/753 (2019.08) [G01S 3/801 (2013.01); G01S 3/8022 (2013.01); G01S 5/24 (2013.01); G01S 15/582 (2013.01); G01S 15/60 (2013.01); G01S 2201/07 (2019.08); G01S 2205/04 (2020.05)] 20 Claims
OG exemplary drawing
 
1. A direction-of-arrival estimation method of an object submerged underwater, comprising:
collecting data snapshots over time at an acoustic array receiver attached to the object underwater from beacon signals transmitted from two known location beacons;
organizing the collected data snapshots in a tensor data structure; conducting joint space-time signal processing; and
estimating azimuth and elevation angles-of-arrival of the transmitted beacon signals via Doppler-, multipath-, and impulsive noise-resistant tensor subspaces.