Velocity Estimation of an Underwater Vehicle Using Doppler Shift of Positioning Signals

This paper proposes a method for estimating the moving velocity of underwater vehicles by utilizing the Doppler shift in positioning signals employed for time-of-arrival (ToA) acoustic positioning. The Doppler shift generated in the received signal was measured by resampling, and the moving velocity in global coordinates was estimated by finding the least-squares solution using the Doppler shift generated in the direct wave and the position measured by ToA positioning. Field experiments conducted in a real marine environment demonstrated the feasibility and effectiveness of the proposed velocity estimation method.