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Three-Dimensional Ultrasonic Needle Tip Tracking with a Fiber-Optic Ultrasound Receiver
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Three-dimensional tracking using one-dimensional bearings from multiple horizontal linear arrays under isogradient
Yong Zhao1,2,3,4, Ce Zheng1,2,3,4, Fanxi Sun1,2,3,4
1National Key Laboratory of Underwater Acoustic Technology, Harbin Engineering University, Harbin 150001, China.
The Journal of the Acoustical Society of America
|April 24, 2026
Summary
Accurate underwater 3D tracking is difficult due to sound speed variations and signal delay. This study introduces a novel method to precisely estimate target location by accounting for acoustic ray bending and propagation delay.
Area of Science:
- Acoustics
- Signal Processing
- Underwater Navigation
Background:
- Underwater 3D tracking using bearing-only measurements is challenging.
- Sound speed variations cause acoustic ray bending, altering bearing angles.
- Signal propagation delay means measurements correspond to past target states.
Purpose of the Study:
- To develop a robust bearing measurement model for underwater 3D tracking.
- To jointly address acoustic ray bending and propagation delay.
- To improve the accuracy of underwater target localization.
Main Methods:
- Formulated a bearing measurement model considering an isogradient sound speed profile.
- Developed a centralized particle filter with an iterative procedure.
- Jointly estimated propagation delay and target emission-time state.
- Marginalized emission-time state estimates for common measurement time posterior.
Main Results:
- The proposed method effectively accounts for ray bending and propagation delay.
- Joint estimation of delay and state improved tracking accuracy.
- Validated through simulations and sea-trial data.
- Derived the posterior Cramér-Rao lower bound for performance benchmarking.
Conclusions:
- The novel approach significantly enhances underwater 3D tracking accuracy.
- The method is effective even with complex sound speed variations.
- Demonstrated practical applicability using real-world data.
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