Now showing1 - 1 of 1
- Some of the metrics are blocked by yourconsent settings
Item type:Publication, Access status: with files , Embedded spherical localization for micro underwater vehicles based on attenuation of electro-magnetic carrier signals(Multidisciplinary Digital Publishing Institute (MDPI), 2017-04-26); ; ; ; Self-localization is one of the most challenging problems for deploying micro autonomous underwater vehicles (μAUV) in confined underwater environments. This paper extends a recently-developed self-localization method that is based on the attenuation of electro-magnetic waves, to the μAUV domain. We demonstrate a compact, low-cost architecture that is able to perform all signal processing steps present in the original method. The system is passive with one-way signal transmission and scales to possibly large μAUV fleets. It is based on the spherical localization concept. We present results from static and dynamic position estimation experiments and discuss the tradeoffs of the system.Publicationtype: Journal ArticleScopus© Citations 17 710 671