Naslov
A multi-user underwater acoustic positioning system – experiments using ASVs and miniature acoustic transceivers

Autori
Neasham, Jeffrey ; Chawla, Aman ; Sherlock, Benjamin ; Lončar, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
OCEANS 2021: San Diego – Porto / - , 2021, 1-5

ISBN
978-0-692-93559-0

Skup
OCEANS 2021 San Diego – Porto

Mjesto i datum
San Diego (CA), Sjedinjene Američke Države, 20.09.2021. - 23.09.2021

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
acoustic positioning ; GPS ; autonomous surface vehicles ; autonomous underwater vehicles

Sažetak
To support the navigation of multiple autonomous underwater vehicles (AUVs) it is highly desirable to have multiuser acoustic positioning based purely upon reception of signals periodically broadcast by georeferenced positioning beacons, analogous to an underwater Global Positioning System (GPS). This paper presents a concept for achieving this using small Autonomous Surface Vehicles (ASV) as beacons in a long baseline (LBL) array. Low hardware complexity and cost is achieved by eliminating the need to maintain accurate synchronisation of underwater nodes or to incorporate high accuracy oven controlled or atomic clocks. The EU Marine Robots (EUMR) project enabled a joint experiment in the Adriatic Sea using 4 H2Omni-X ASVs, developed by the University of Zagreb, equipped with miniature, low cost spread spectrum acoustic modems (NMv3) developed by Newcastle University. Positioning results obtained, and compared with ground truth from GPS, provided a successful validation of this concept and the hardware implementation, achieving mean squared error on position estimates of ∼ 1m and graceful deterioration as the receiver moves outside the baselines.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA