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Simulation and Evaluation of Doppler Sonar Navigation Systems in Absence of Sattelite Navigation

Hatamian, Hassan | 2025

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 58039 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Behnia, Fereidoon
  7. Abstract:
  8. Nowadays, humans can travel long distances using land, air, and sea vehicles, moving from a certain origin to a desired destination. To navigate optimally and accurately, appropriate positioning methods need to be employed, which require accurate measurements of speed, acceleration, and movement angles throughout the journey. In everyday applications, nearly all inhabitants of the Earth utilize satellite positioning methods, which are easy to use and provide adequate accuracy. However, in specific scenarios for exploratory and military applications, the use of satellite localization is not feasible. The underwater scenario is one such case, where specific measurements must be taken using specialized sensors to meet localization needs. Among the methods categorized as Self-Based measurements for underwater environments, the use of Inertial Navigation Systems (INS) for measuring angles and acceleration, as well as acoustic ranging, can be mentioned. In this research, we intend to conduct a study on one of the widely used acoustic ranging methods in underwater environments. After describing its overall structure, we will attempt to introduce improvements in the method and extract additional parameters from the measurements utilized in this approach
  9. Keywords:
  10. Acoustic Doppler Current Profiler ; Backscattering ; Doppler Velocity Log (DVL) ; Multipath Backscattered Signal ; Backscattering Field ; Doppler Frequency Shift ; Doppler Frequency

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