One- and Two-Way Travel Time Ranging in Underwater Acoustic Mobile Networks

Low-Cost Underwater Swarm Acoustic Localization: A Review

“…Although CSAC are very accurate and have a very low power consumption, they are very expensive (over 5000 euro), making them not suitable for low-cost AUVs. In [80] a OWR method is proposed for the ranging of a swarm of robots and evaluated in simulation. In the simulation each AUV in the swarm periodically broadcast a packet with its transmission time according to the Time Division Multiple Access (TDMA) protocol so that other robots receiving the packet will know the relative distance.…”

“…Unlike EKF-based fusion which requires dynamic motion models, Gaussian error models, and major changes in the motion models in the case of integrating additional sensory information, new knowledge can be acquired and represented in additional fuzzy rules or modifying rules in the fuzzy localization framework. In [80] the authors propose a cooperative underwater acoustic ranging method for a swarm of vehicles and use an underwater network simulator DESERT [91] for the simulation and evaluation of the ranging results. The proposed cooperative ranging strategy requires minimum transmission of packets between the swarm and no time synchronization, however, the ranging accuracy is reduced drastically when there is packet loss thus not applicable for real experiments.…”