Cooperative localization for multiple AUVs based on the rough estimation of the measurements

The Autonomous Underwater Vehicles (AUVs) industry is still awaiting its Henry Ford to bring to the market solutions that are well adapted to the challenge of underwater exploration. This will certainly be done by the advent of small connected drones equipped with small sensors and embedded devices, allowing AUVs to operate in a coordinated swarm, at a unit price so affordable that we can consider deploying hundreds, or even thousands simultaneously, to be able to observe the ocean with an instrument of a size finally adapted to its immensity. The scope of this work is to build a high performance and lowcost embedded device easy to mount onboard small AUVs and implementing energy-based spectrum sensing algorithms in order to detect targets underwater using acoustic waves. The principle of design, hardware architecture and real-time implementation of the acoustic signal processing chain are described in this paper. Simulations and sea experiments have been conducted successfully and qualified the performance of the realized system to detect acoustic pings underwater depending on the signalto-noise ratio (SNR). Moreover, this paper proposes methods to improve the measured detection range and accuracy.

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“…• Cooperative [9], [10], [11]: where a group or network of receivers exchange information in order to enhance the detection performance.…”

Section: A Overviewmentioning

confidence: 99%

Design and Performance Measurement of Energy-based Acoustic Signal Detection with Autonomous Underwater Vehicles

Es-sadaoui¹,

Khallaayoune²,

Brizard³

2021

IJACSA

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“…This relationship is important because if the AUV is not fast enough, the measurement may go stale which may result in very high localization error. In [57], the authors focus on cooperative localization in case of multiple AUVs networks in UWASNs (figure 11). Taking into account the constraint of cooperative structure, they develop two measurement schemes for rough location estimation methods.…”

Section: Figure 10 An Example Of 2-hop Transmission Power Calculatiomentioning

confidence: 99%

A Comprehensive Survey of the Recently Proposed Localization Protocols for Underwater Sensor Networks

Islam

Park

2020

IEEE Access

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Underwater Wireless Sensor Networks (UWSNs) offer a huge number of applications, most of which require tagging the sensed data with location information. This makes localization algorithms an essential part of UWSN design. This paper presents a comprehensive survey of the recently proposed literature on localization in UWSNs. The surveyed algorithms are evaluated based on a wide-ranging set of parameters which constitute the elementary features of a localization algorithm. Moreover, in order to familiarize the readers with the basic design of the surveyed algorithms, brief description of the mode of operations of each algorithm is presented along with its strengths and weaknesses. The algorithms are divided into two categories based on their computational design i.e., centralized and distributed. Each category is further subdivided into the algorithms that consider node mobility, and those that do not. Towards the end, we present our view on the future research directions in the area of localization in UWSNs.

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“…The consideration of delay factors becomes crucial in underwater localization, bearing substantial research significance. Furthermore, due to the complexity of the underwater environment, there is still a gap between the navigation and positioning accuracy of underwater vehicles compared to those of air and land, and for the time being, underwater navigation has become an important issue in the field of AUV research, and the navigation and positioning of AUV are very challenging [11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

A High-Precision Positioning Method for Autonomous Underwater Vehicles with Communication Delays

Li,

Chen

et al. 2024

Electronics

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In underwater navigation of autonomous underwater vehicles (AUVs), communication delays frequently occur, leading to a reduction in positioning accuracy. To mitigate this challenge, this work introduces a novel method for relative angle correction, aiming to reconstruct measurement information. Initially, Doppler measurement data are assimilated into the reconstruction of measurement equations to determine the relative angle between the AUV and the observatory. Subsequently, the obtained angle information is integrated into the Extended Kalman Filter (EKF) for the reconstruction of measurement equations. The proposed method effectively reduces positioning errors caused by hydroacoustic communication delays, consequently enhancing AUV positioning accuracy. The efficacy of the proposed method is demonstrated through a simulation study. Simulation results reveal that the incorporation of Doppler angle correction in the reconstructed measurement information method significantly decreases the localization error by approximately 50% compared to EKF and by around 20% compared to the method lacking angle correction.

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Cooperative localization for multiple AUVs based on the rough estimation of the measurements

Cited by 21 publications

References 30 publications

Design and Performance Measurement of Energy-based Acoustic Signal Detection with Autonomous Underwater Vehicles

Design and Performance Measurement of Energy-based Acoustic Signal Detection with Autonomous Underwater Vehicles

A Comprehensive Survey of the Recently Proposed Localization Protocols for Underwater Sensor Networks

A High-Precision Positioning Method for Autonomous Underwater Vehicles with Communication Delays

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