Localization of a Micro AUV with Dynamic Trilateration Using Low-power Packet Radio RSSI

Abstract

Communication radio-based AUV localization was demonstrated in this study. The proposed solution was formulated and derived for both stationary and linearly drifting objects of interest and is possible of operating in GNSS-denied operations. Linear curve-fit to experimental data for radio-distance mapping with range calculation was tested in terrestrial and marine environments. The use of packet radio equipment on a secondary basis for localization may present a potential for reduced requirements for high precision or task-specific hardware in the future.