Self-Localization of Micro AUVs Using a Low-Power, Low-Cost Acoustic Modem

Publikationstyp
Conference Paper
Date Issued
2018
Sprache
English
Author(s)
Heitmann, Jan  
Steinmetz, Fabian  orcid-logo
Renner, Bernd-Christian  
Institut
smartPORT E-EXK2  
TORE-URI
http://hdl.handle.net/11420/2374
Start Page
8604776
Citation
(OCEAN 2018)
Contribution to Conference
OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018  
Publisher DOI
10.1109/OCEANS.2018.8604776
Scopus ID
2-s2.0-85059962983
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.
DDC Class
600: Technology
More Funding Information
BMBF: 13N14153