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Article

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
Sensors 2017, 17(5), 959; https://doi.org/10.3390/s17050959
Received: 28 February 2017 / Revised: 16 April 2017 / Accepted: 18 April 2017 / Published: 26 April 2017
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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MDPI and ACS Style

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. https://doi.org/10.3390/s17050959

AMA Style

Duecker D-A, Geist AR, 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(5):959. https://doi.org/10.3390/s17050959

Chicago/Turabian Style

Duecker, Daniel-André; Geist, A. R.; Hengeler, Michael; Kreuzer, Edwin; Pick, Marc-André; Rausch, Viktor; Solowjow, Eugen. 2017. "Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals" Sensors 17, no. 5: 959. https://doi.org/10.3390/s17050959

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