Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals
Self-localization is one of the most challenging problems for deploying micro autonomous underwater vehicles ( μ 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 μ AU...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2017-04-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/17/5/959 |
| _version_ | 1811305880514199552 |
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| author | Daniel-André Duecker A. René Geist Michael Hengeler Edwin Kreuzer Marc-André Pick Viktor Rausch Eugen Solowjow |
| author_facet | Daniel-André Duecker A. René Geist Michael Hengeler Edwin Kreuzer Marc-André Pick Viktor Rausch Eugen Solowjow |
| author_sort | Daniel-André Duecker |
| collection | DOAJ |
| description | Self-localization is one of the most challenging problems for deploying micro autonomous underwater vehicles ( μ 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 μ 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 μ 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. |
| first_indexed | 2024-04-13T08:34:24Z |
| format | Article |
| id | doaj.art-49a74831c76d42aaa82b3b1d1eab0f0b |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T08:34:24Z |
| publishDate | 2017-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-49a74831c76d42aaa82b3b1d1eab0f0b2022-12-22T02:54:09ZengMDPI AGSensors1424-82202017-04-0117595910.3390/s17050959s17050959Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier SignalsDaniel-André Duecker0A. René Geist1Michael Hengeler2Edwin Kreuzer3Marc-André Pick4Viktor Rausch5Eugen Solowjow6Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Hamburg 21073, GermanyInstitute of Mechanics and Ocean Engineering, Hamburg University of Technology, Hamburg 21073, GermanyInstitute of Mechanics and Ocean Engineering, Hamburg University of Technology, Hamburg 21073, GermanyInstitute of Mechanics and Ocean Engineering, Hamburg University of Technology, Hamburg 21073, GermanyInstitute of Mechanics and Ocean Engineering, Hamburg University of Technology, Hamburg 21073, GermanyInstitute of Mechanics and Ocean Engineering, Hamburg University of Technology, Hamburg 21073, GermanyInstitute of Mechanics and Ocean Engineering, Hamburg University of Technology, Hamburg 21073, GermanySelf-localization is one of the most challenging problems for deploying micro autonomous underwater vehicles ( μ 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 μ 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 μ 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.http://www.mdpi.com/1424-8220/17/5/959localizationmicro autonomous underwater vehiclesswarm roboticssoftware- defined radio |
| spellingShingle | Daniel-André Duecker A. René Geist Michael Hengeler Edwin Kreuzer Marc-André Pick Viktor Rausch Eugen Solowjow Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals Sensors localization micro autonomous underwater vehicles swarm robotics software- defined radio |
| title | Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals |
| title_full | Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals |
| title_fullStr | Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals |
| title_full_unstemmed | Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals |
| title_short | Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals |
| title_sort | embedded spherical localization for micro underwater vehicles based on attenuation of electro magnetic carrier signals |
| topic | localization micro autonomous underwater vehicles swarm robotics software- defined radio |
| url | http://www.mdpi.com/1424-8220/17/5/959 |
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