Acoustic localization of an autonomous underwater vehicle
Keywords:Broadcasting, Computer system recovery, Coordinate measuring machines, Gateways (computer networks), Modems, Submersible motors, Submersibles, Telecommunication systems, Underwater acoustics, Underwater ballistics, Underwater equipment, Underwater structures, Water craft, Acoustic localization, Acoustic modem, Acoustic pulse, Cartesian coordinate system, Co-ordinate system, Ice surfaces, Localization method, Network communications, Range localization, Teledyne, Through hole
AbstractA localization method was used to determine acoustic localization of an autonomous underwater vehicle (AUV). Localization referred to an estimate of the position of the AUV in relation to a coordinate system set up on the ice surface. A three dimensional Cartesian coordinate system was selected with origin corresponding to the deployment and recovery hole. Short range localization was conducted using a network of Teledyne Benthos acoustic modems where one of the modems was contained in the AUV. It was observed that around four modems were suspended through holes distributed over the ice surface. One of the modems was placed at the deployment and recovery hole and designated the gate modem in the arrangement for the method. All network communications were controlled through the gateway modem and the time for travel of an acoustic pulse between two modems was obtained using a broadcast or polling request.
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