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Sensors 2017, 17(5), 959; doi:10.3390/s17050959

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

Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Hamburg 21073, Germany
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Academic Editor: José-Fernán Martínez
Received: 28 February 2017 / Revised: 16 April 2017 / Accepted: 18 April 2017 / Published: 26 April 2017

Abstract

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. View Full-Text
Keywords: localization; micro autonomous underwater vehicles; swarm robotics; software- defined radio localization; micro autonomous underwater vehicles; swarm robotics; software- defined radio
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Duecker, D.-A.; Geist, A.R.; Hengeler, M.; Kreuzer, E.; Pick, M.-A.; Rausch, V.; Solowjow, E. Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals. Sensors 2017, 17, 959.

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