Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals.
Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals.
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DOI：
10.3390/s17050959
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发表时间：
2017-04-26
期刊：
影响因子：
--
通讯作者：
Solowjow E
中科院分区：
文献类型：
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作者：
Duecker DA;Geist AR;Hengeler M;Kreuzer E;Pick MA;Rausch V;Solowjow E
Self-localization is one of the most challenging problems for deploying micro autonomous underwater vehicles (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 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 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.
