@inproceedings{
   Author = {Kottege, Navinda and Zimmer, Uwe R.},
   Title = {Cross-correlation Tracking for Maximum Length Sequence Based Acoustic Localisation},
   BookTitle = {Australasian Conference on Robotics and Automation 2008 (ACRA '08)},
   Address= {Canberra, ACT, Australia},
   Abstract = {While Maximum Length Sequence based cross-correlation
and localisation methods are specifically robust
with respect to multiple forms of disturbances, the
method is still subject of becoming 'side-tracked' by
echoes, reverberations and other resonance effects. This
article details a method to track the correct reading
throughout a series of measurements which is specifically
designed for the cross-correlation localisation
technique as deployed in underwater environments by
the Serafina project. The method is based on the selection
of the most likely candidate rather than Kalman filters
or other low-pass filters and extrapolation methods.
Therefore every individual reading is an actual measurement,
rather than an extrapolation.
As transducers with non-linear frequency responses are
common in energy-efficient underwater acoustic setups,
the resulting signal deformations are explicitly addressed
and corrected by means of inverse frequency
transformations.
The article discusses in detail a series of experiments
performed in a highly reverberant underwater environment.
The achieved performances include standard deviations
of a less then 3 degrees in azimuth estimation,
and 11 cm in range estimations throughout the presented
sequence of experiments.},
   Keywords = {Acoustic localization, underwater localisation, submersibles, AUV, Swarms, MLS, Cross-correlation, Localisation
},
   Year = {2008} }