DC FieldValueLanguage
dc.contributor.authorGeist, Andreas René-
dc.contributor.authorHackbarth, Axel-
dc.contributor.authorKreuzer, Edwin-
dc.contributor.authorRausch, Viktor-
dc.contributor.authorSankur, Michael-
dc.contributor.authorSolowjow, Eugen-
dc.date.accessioned2020-06-05T12:40:42Z-
dc.date.available2020-06-05T12:40:42Z-
dc.date.issued2016-06-08-
dc.identifier.citationIEEE International Conference on Robotics and Automation: 7487655 4551-4556 (2016-06-08)de_DE
dc.identifier.isbn978-146738026-3de_DE
dc.identifier.urihttp://hdl.handle.net/11420/6252-
dc.description.abstractA hyperbolic acoustic system for underwater robot self-localization is presented. Anchored transducers send acoustic signals which are observed by a receiver. The system is passive with one-way signal transmission. Time differences of arrival (TDOAs) between the emitted signals are estimated by the receiver via cross-correlation. These TDOAs are fed to an Extended Kalman Filter to estimate the global position of the receiver. We describe the complete signal processing chain as well as challenges in hardware and software design. Experimental results in air and water show the feasibility of the system. This paper demonstrates that acoustic one-way localization is possible with off-the-shelf hardware in experimental test tanks.en
dc.language.isoende_DE
dc.titleTowards a hyperbolic acoustic one-way localization system for underwater swarm roboticsde_DE
dc.typeinProceedingsde_DE
dc.type.dinicontributionToPeriodical-
dcterms.DCMITypeText-
tuhh.abstract.englishA hyperbolic acoustic system for underwater robot self-localization is presented. Anchored transducers send acoustic signals which are observed by a receiver. The system is passive with one-way signal transmission. Time differences of arrival (TDOAs) between the emitted signals are estimated by the receiver via cross-correlation. These TDOAs are fed to an Extended Kalman Filter to estimate the global position of the receiver. We describe the complete signal processing chain as well as challenges in hardware and software design. Experimental results in air and water show the feasibility of the system. This paper demonstrates that acoustic one-way localization is possible with off-the-shelf hardware in experimental test tanks.de_DE
tuhh.publisher.doi10.1109/ICRA.2016.7487655-
tuhh.publication.instituteMechanik und Meerestechnik M-13de_DE
tuhh.type.opusInProceedings (Aufsatz / Paper einer Konferenz etc.)-
dc.type.drivercontributionToPeriodical-
dc.type.casraiConference Paper-
tuhh.container.volume2016-Junede_DE
tuhh.container.startpage4551de_DE
tuhh.container.endpage4556de_DE
dc.relation.conferenceIEEE International Conference on Robotics and Automation 2016de_DE
tuhh.container.articlenumber7487655de_DE
item.creatorGNDGeist, Andreas René-
item.creatorGNDHackbarth, Axel-
item.creatorGNDKreuzer, Edwin-
item.creatorGNDRausch, Viktor-
item.creatorGNDSankur, Michael-
item.creatorGNDSolowjow, Eugen-
item.openairecristypehttp://purl.org/coar/resource_type/c_5794-
item.grantfulltextnone-
item.languageiso639-1en-
item.openairetypeinProceedings-
item.cerifentitytypePublications-
item.creatorOrcidGeist, Andreas René-
item.creatorOrcidHackbarth, Axel-
item.creatorOrcidKreuzer, Edwin-
item.creatorOrcidRausch, Viktor-
item.creatorOrcidSankur, Michael-
item.creatorOrcidSolowjow, Eugen-
item.fulltextNo Fulltext-
crisitem.author.deptMechanik und Meerestechnik M-13-
crisitem.author.deptMechanik und Meerestechnik M-13-
crisitem.author.deptMechanik und Meerestechnik M-13-
crisitem.author.deptMechanik und Meerestechnik M-13-
crisitem.author.deptMechanik und Meerestechnik M-13-
crisitem.author.orcid0000-0001-5222-3706-
crisitem.author.parentorgStudiendekanat Maschinenbau-
crisitem.author.parentorgStudiendekanat Maschinenbau-
crisitem.author.parentorgStudiendekanat Maschinenbau-
crisitem.author.parentorgStudiendekanat Maschinenbau-
crisitem.author.parentorgStudiendekanat Maschinenbau-
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