Simultaneous underwater acoustic localization and communication: an experimental study

Abstract

Currently in the field of autonomous underwater vehicles localization, it is difficult to do without a Doppler Velocity Log (DVL). Combined with distance measurements or not, this fairly expensive sensor is a must-have. In this paper we introduce our method by combining underwater acoustic communication and localization through Doppler shift estimation needed in the vehicle transmission modem for communication. This cost-effective technique provides an information on transmitter/receiver relative speed. We consider a fixed anchor with known position transmitting regularly to a receiver in a water pool of 3m². Using an Extended Kalman filter, we compare standalone range measurements estimation with speed-only measurements and speed with range combined in the estimation filter. Experimental results demonstrate a consequent gain using speed computation associated with range measurement.

Sea experimentation of single beacon simultaneous localization and communication for AUV navigation

“…In this paper, we are developing a new localization method previously introduced in [2] and [3]. The scientific community has researched on stable AUV localization techniques, leading to several innovative technologies in this domain, described in [4] and [5].…”

“…Papers [2] and [3] are previous work of respectively simulation and pool-test of this novel technique. We then spread out our work on this subject by making an experimentation on short mission trajectories in a real sea environment to examine its performance.…”