Next Article in Journal
An Improved YOLOv9s Algorithm for Underwater Object Detection
Previous Article in Journal
Dual-CycleGANs with Dynamic Guidance for Robust Underwater Image Restoration
Previous Article in Special Issue
Research on Fault Diagnosis of Ship Propulsion System Based on Improved Residual Network
 
 
Search for Articles:
Title / Keyword
Author / Affiliation / Email
Journal
Article Type
 
 
Advanced Search
 
Section
Special Issue
Volume
Issue
Number
Page
 
Journals
JMSE
Volume 13
Issue 2
10.3390/jmse13020229
jmse-logo
Submit to this Journal Review for this Journal Propose a Special Issue
► Article Menu

Article Menu

share Share announcement Help format_quote Cite question_answer Discuss in SciProfiles
first_page
settings
Order Article Reprints
Font Type:
Arial Georgia Verdana
Font Size:
Aa Aa Aa
Line Spacing:
Column Width:
Background:
This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Low-Complexity 2D DOA Estimation via L-Shaped Array for Underwater Hexapod Robot

by
Yingzhe Sun
1,2,
Qiyan Tian
1,2,
Di Yao
3 and
Qifeng Zhang
1,2,*
1
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2
Key Laboratory of Marine Robotics, Shenyang 110169, China
3
The School of Computer Science and Engineering, Northeastern University, Shenyang 110819, China
*
Author to whom correspondence should be addressed.
J. Mar. Sci. Eng. 2025, 13(2), 229; https://doi.org/10.3390/jmse13020229
Submission received: 21 December 2024 / Revised: 14 January 2025 / Accepted: 24 January 2025 / Published: 25 January 2025
(This article belongs to the Special Issue Recent Advances on Intelligent Maintenance and Health Management in Ocean Engineering)
Versions Notes

Abstract

This paper takes underwater hexapod robot target grasping in an extremely shallow water environment as the research goal and carries out the research on a high-precision and low-complexity method of target positioning. We address the above problem of estimating the two-dimensional (2D) directions of arrival (DOAs) of targets, using an L-shaped ultrasonic array. Based on the above considerations, low-complexity 2D multiple signal classification (MUSIC) based on sparse signal recovery (SSR) is proposed to enhance the super-resolution capability and DOA estimation accuracy. In the first step, subspace dimension is determined based on space distance. Then, a mixed-norm method is exploited to construct the projection subspace and new noise subspace. Finally, the orthogonality between the noise and signal subspaces is used to estimate DOAs. Via a numerical simulations analysis, we illustrate that the proposed technique can enhance the accuracy of DOA estimation while also being robust against coherent sources and limited snapshots.
Keywords: underwater hexapod robot; low complexity; 2D DOA; L-shaped array underwater hexapod robot; low complexity; 2D DOA; L-shaped array

Share and Cite

MDPI and ACS Style

Sun, Y.; Tian, Q.; Yao, D.; Zhang, Q. Low-Complexity 2D DOA Estimation via L-Shaped Array for Underwater Hexapod Robot. J. Mar. Sci. Eng. 2025, 13, 229. https://doi.org/10.3390/jmse13020229

AMA Style

Sun Y, Tian Q, Yao D, Zhang Q. Low-Complexity 2D DOA Estimation via L-Shaped Array for Underwater Hexapod Robot. Journal of Marine Science and Engineering. 2025; 13(2):229. https://doi.org/10.3390/jmse13020229

Chicago/Turabian Style

Sun, Yingzhe, Qiyan Tian, Di Yao, and Qifeng Zhang. 2025. "Low-Complexity 2D DOA Estimation via L-Shaped Array for Underwater Hexapod Robot" Journal of Marine Science and Engineering 13, no. 2: 229. https://doi.org/10.3390/jmse13020229

APA Style

Sun, Y., Tian, Q., Yao, D., & Zhang, Q. (2025). Low-Complexity 2D DOA Estimation via L-Shaped Array for Underwater Hexapod Robot. Journal of Marine Science and Engineering, 13(2), 229. https://doi.org/10.3390/jmse13020229

Note that from the first issue of 2016, this journal uses article numbers instead of page numbers. See further details here.

Article Metrics

Back to TopTop