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- Title
Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals.
- Authors
Duecker, Daniel-André; Geist, A. René; Hengeler, Michael; Kreuzer, Edwin; Pick, Marc-André; Rausch, Viktor; Solowjow, Eugen
- Abstract
Self-localization is one of the most challenging problems for deploying micro autonomous underwater vehicles (mAUV) 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 mAUV 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 mAUV 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
AUTONOMOUS underwater vehicles; SUBMERSIBLES; ELECTROMAGNETIC waves; ATTENUATION (Physics); DATA transmission systems
- Publication
Sensors (14248220), 2017, Vol 17, Issue 5, p959
- ISSN
1424-8220
- Publication type
Article
- DOI
10.3390/s17050959