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Publisher DOI: 10.3390/s17050959
Title: Embedded spherical localization for micro underwater vehicles based on attenuation of electro-magnetic carrier signals
Language: English
Authors: Dücker, Daniel-André 
Geist, Andreas René 
Hengeler, Michael 
Kreuzer, Edwin 
Pick, Marc-André 
Rausch, Viktor 
Solowjow, Eugen 
Keywords: localization;micro autonomous underwater vehicles;swarm robotics;software-defined radio
Issue Date: 26-Apr-2017
Publisher: Multidisciplinary Digital Publishing Institute
Source: Sensors 17 (2017), 5: 959
Journal or Series Name: Sensors 
Abstract (english): 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.
DOI: 10.15480/882.1428
ISSN: 1424-8220
Other Identifiers: doi: 10.3390/s17050959
Institute: Mechanik und Meerestechnik M-13 
Type: (wissenschaftlicher) Artikel
Project: Open Access Publizieren 2016 - 2017 / Technische Universität Hamburg-Harburg 
Zustandsschätzung von Strömungsfeldern und Quellfindung mittels dynamisch positionierter Unterwasser-Sensorknoten. 
License: CC BY 4.0 (Attribution) CC BY 4.0 (Attribution)
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