SYSTEM FOR OBJECT POSITION ESTIMATION BASED ON MAGNETIC FIELD SIGNAL USING UNDERWATER SENSOR NETWORK AND METHOD THEREOF

摘要

The present invention relates to a magnetic field based object position estimation system and method using an underwater sensor network. According to the present invention, in a method for estimating a magnetic field-based object position using an underwater sensor network, receiving a magnetic field signal emitted from an object moving underwater using an underwater sensor network composed of a plurality of magnetic field sensors installed in the water, Extracting an induced magnetic field signal by removing the earth magnetic field and noise signal from the received magnetic field signal, determining whether the moving object has entered the underwater sensor network using the induced magnetic field signal, and If it is determined that has entered, it includes the step of estimating the position of the object using the position information of the plurality of sensors that sense the object. As described above, according to the present invention, it is possible to more accurately measure the position of an object moving underwater than the fingerprinting technique or the ToA technique that tracks the existing location, and even because the magnetic field characteristic is used, even when the magnetic field signal strength of the object changes. By estimating the position by selecting the number of k sensors according to the magnetic field signal, it is possible to measure the exact position of the object even if the separation distance of each sensor increases.