A pedestrian tracking system using inertial sensors mounted on both feet is presented. Significant accuracy improvements are demonstrated, compared to single shoe tracking, by using sonar foot-to-foot range measurements to constrain heading drift. A single complementary Kalman filter fuses data from both inertial measurement units and the sonar sensor. The system is composed of commercial and c...

To successfully negotiate a cluttered environment, an echolocating bat must control the timing of motor behaviors in response to dynamic sensory information. Here we detail the big brown bat's adaptive temporal control over sonar call production for tracking prey, moving predictably or unpredictably, under different experimental conditions. We studied the adaptive control of vocal-motor behavio...

We present a novel framework for analysis and visualization of fish schools in 3D sonar surveys. The 3D sonar technology is new and there are no applications to visualize the data in 3D. We have created an application called Sonar Explorer that satisfies the requirements of domain scientists. Sonar Explorer provides easy and intuitive semi-automatic fish school tracking and survey map generatio...

A new approach to rejecting interference between sonar systems is presented in this paper. The approach is based on identifying a transmitter by sending a double pulse with known separation. Using simple delayed pulse subtraction, a sonar receiver can test echo pulses quickly and simply for acceptance. This approach is implemented on a sonar system that is capable of accurately tracking objects...

This paper introduces a multi-hypothesis multistatic sonar tracker for undersea surveillance. Multistatic sonar increases the data rate and has the potential to improve surveillance capabilities, provided effective target tracking is performed. Our multihypothesis tracker includes features not generally found in other multi-hypothesis trackers. Data association is based on an efficient linear p...

This paper describes a new technique for tracking locally curved unknown objects using sonar. The approach explicitly accounts for relevant robot dynamics. Objects are tracked by looking for temporal sequences of observations that fit a kinematic model. The method is illustrated using data from a synthetic aperture sonar gathered by a BPAUV at NATO SACLANT’s GOATS 2002 experiment in the Liguria...

An ongoing research effort at the NATO Undersea Research Centre (NURC) has included the development of multistatic sonar fusion and tracking technology for effective undersea surveillance. This paper summarizes the progress in this area, and identifies the sensor management tasks that are of current interest. In particular, we study the potential value-added of adaptive data thresholding based ...