Self-Localization of Micro AUVs Using a Low-Power, Low-Cost Acoustic Modem
Sensing tasks underwater, i.e. monitoring water quality, spillage detection or pillar inspection, are becoming more and more important for port operators, researchers and local authorities. The accomplishment of these tasks is dangerous, costly and time consuming. A variety of cheap micro AUVs has been presented by industry and academia in the last years. However, to enable autonomous sensing tasks underwater, these devices have to be able to send their data to the surface and to be aware of their own position. The use of expensive hardware for that contradicts the implementation of cheap muAUVs. In this paper, we present a lightweight ranging and localization approach, solely relying on two-way ranging. We analyze the performance of our proposed approach during in a practical evaluation and show that self-localization solely relying our self-developed, small and inexpensive underwater acoustic modem, the muAUVs HippoCampus and a hydrophone is feasible. © 2018 IEEE.
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