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Unformatted text preview: Multi-Sensor Area Coverage Analysis for Aspect-Dependent Targets J. C. Hyland, C. M. Smith, and J. R. Stack Naval Surface Warfare Center Panama City 110 Vernon Ave. Panama City, FL 32407-5000 Abstract- T his research investigates sensor area coverage analysis techniques for multiple sensors in applications where the probability of detection ( P d ) is a function of aspect as well as range. This is particularly appropriate for mine countermeasure (MCM) applications where many targets have asymmetric geometries and unknown orientations, poses, scour depths, etc. This research articulates two fundamental theoretical limitations in traditional area coverage analysis. First, that sensor performance is aspect independent. And second, that the target orientations observed by the search sensors are independent and uniformly distributed. Using hypothetical sensor performance, simulated MCM search scenarios clearly expose these limitations. The simulations compare the results using the new aspect- dependent techniques to those using the non-aspect-dependent techniques. By properly accounting for aspect-dependent performance, overall mission performance can be increased with no additional cost. The results of this research form a critical piece of requisite understanding towards advancing the Navys vision of cooperative and adaptive mission execution with multiple autonomous vehicles . I. INTRODUCTION Traditional mine countermeasures (MCM) area coverage planning and analysis theory typically assumes that: 1. Sensor performance is not aspect dependent, and 2. Coverage pattern track orientations are independent and uniformly distributed . These two assumptions greatly simplify the mathematical analysis. When aspect dependent sensor performance is present, the analysis simply uses aggregate performance formed by averaging sensor performance over all target aspects under the assumption that all aspects are equally weighted. In the past this approach had some justification because mine- hunting was dominated by large ship or air craft towed systems with few options for coverage patterns and little prior information. The uniform distribution assumption represents no prior information. In the case where target orientations are uniformly distributed and coverage track orientations are uniformly distributed, aggregate performance analysis works well. The new age of mine countermeasures (MCM) is likely to be dominated by remotely operated or autonomous underwater vehicles (AUVs) equipped with multiple on-board sensors [2,3]. Teams of such vehicles are not constrained to simple coverage patterns with rows of parallel tracks created by using the mow-the-lawn coverage approach. It is now worthwhile to consider target aspect in search path analysis and to develop multi-sensor area coverage planning techniques for aspect- dependent targets....
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This note was uploaded on 02/04/2012 for the course ECE 445 taught by Professor Hert during the Spring '11 term at Maryland.
- Spring '11