Dücker, Daniel-AndréDaniel-AndréDückerGeist, Andreas RenéAndreas RenéGeistHengeler, MichaelMichaelHengelerKreuzer, EdwinEdwinKreuzerPick, Marc-AndréMarc-AndréPickRausch, ViktorViktorRauschSolowjow, EugenEugenSolowjow2017-09-282017-09-282017-04-26Sensors 17 (2017), 5: 959http://tubdok.tub.tuhh.de/handle/11420/1431Self-localization is one of the most challenging problems for deploying micro autonomous underwater vehicles (<inline-formula> <math display="inline"> <semantics> <mi>μ</mi> </semantics> </math> </inline-formula>AUV) 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 <inline-formula> <math display="inline"> <semantics> <mi>μ</mi> </semantics> </math> </inline-formula>AUV 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 <inline-formula> <math display="inline"> <semantics> <mi>μ</mi> </semantics> </math> </inline-formula>AUV 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.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.en1424-82202017Multidisciplinary Digital Publishing Institutehttps://creativecommons.org/licenses/by/4.0/localizationmicro autonomous underwater vehiclesswarm roboticssoftware-defined radioIngenieurwissenschaftenJournal Article2017-08-24urn:nbn:de:gbv:830-882w0227610.15480/882.142811420/143110.3390/s1705095910.15480/882.1428Journal Article