Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals

作者：Duecker Daniel Andre; Geist A Rene; Hengeler Michael; Kreuzer Edwin; Pick Marc Andre; Rausch Viktor; Solowjow Eugen^*

来源：Sensors, 2017, 17(5): 959.

DOI：10.3390/s17050959

• localization
• micro autonomous underwater vehicles
• swarm robotics
• software-defined radio

Self-localization is one of the most challenging problems for deploying micro autonomous underwater vehicles (mu 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 mu 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 mu 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.

• 出版日期2017-5