Embedded spherical localization for micro underwater vehicles based on attenuation of electro-magnetic carrier signals
Citation Link: https://doi.org/10.15480/882.1428
Publikationstyp
Journal Article
Date Issued
2017-04-26
Sprache
English
Institut
TORE-DOI
Journal
Citation
Sensors 17 (2017), 5: 959
Publisher DOI
Scopus ID
Publisher
Multidisciplinary Digital Publishing Institute (MDPI)
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.
Subjects
localization
micro autonomous underwater vehicles
swarm robotics
software-defined radio
DDC Class
620: Ingenieurwissenschaften