Underwater Acoustic Navigation with the WHOI Micro-Modem

Singh, Sandipa; Grund, M.; Bingham, Brian; Eustice, Ryan M.; Singh, Hanumant; Freitag, Lee

doi:10.1109/oceans.2006.306853

Cited by 49 publications

(28 citation statements)

References 5 publications

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“…Like the baseline, the AUVs can use satellite communication with the base station to organize the formation. In addition, the vehicles are able to use the modem's ranging capabilities, using minipackets, to approximate their distance from one another while underwater [14]. This is performed in 15 minute intervals in our simulations.…”

Section: Discussionmentioning

confidence: 99%

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Using Slocum gliders for coordinated spatial sampling

Woithe

Kremer

2011

OCEANS 2011 IEEE - Spain

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Abstract-Buoyancy driven Autonomous Underwater Vehicles (AUVs), such as the Slocum glider, allow for a prolonged presence to study the oceans. They can operate for weeks or even months recording oceanographic data for a fraction of the cost of research vessels. However, the vehicles are limited to the number of sensors that can be carried onboard. Alternatively, a group of AUVs performing formation flight, where AUVs maintain particular positions relative to each other, could be used to observe ocean conditions and phenomena at a high spatiotemporal resolution carrying a variety of sensors. The vehicles can conceptually act as a single science instrument that can be easier and less expensive to deploy than higher cost, large AUVs.In this paper we propose and evaluate, using simulations, an effective coordination strategy for formation flight which monitors the formation quality using underwater communication.If an AUV drifts out of formation, all vehicles are instructed through underwater communication to resurface in order to reestablish the formation. Overall, this strategy is able to keep a formation of gliders longer than the traditional approach and can gather significantly more data samples, which corresponds to an overall decrease in the per sample energy cost.

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Section: Discussionmentioning

confidence: 99%

“…Listening for and receiving FSK encoded packets requires 80-158mW [12], [13]. Based on the modems success in other AUVs, [11], [14], it was chosen to be integrated into the Slocum glider.…”

Section: A Whoi Mirco-modemmentioning

confidence: 99%

Using Slocum gliders for coordinated spatial sampling

Woithe

Kremer

2011

OCEANS 2011 IEEE - Spain

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“…For this purpose, we employ the synchronoustransmission capabilities of the WHOI Micro-Modem Singh, Grund, Bingham, Eustice, Singh, et al, 2006). The synchronous-transmission feature of the WHOI Micro-Modem allows it to directly and accurately measure time of arrival (TOA) to within 125 μs (i.e., 18.75-cm range discretization at 1500-m/s sound speed) between a source and receiver using a user-supplied external pulse per second (PPS) reference clock.…”

Section: Methodsmentioning

confidence: 99%

Synchronous‐clock, one‐way‐travel‐time acoustic navigation for underwater vehicles

Eustice¹,

Singh²,

Whitcomb³

2010

Journal of Field Robotics

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This paper reports the development and deployment of a synchronous-clock acoustic navigation system suitable for the simultaneous navigation of multiple underwater vehicles. Our navigation system is composed of an acoustic modem-based communication and navigation system that allows for onboard navigational data to be broadcast as a data packet by a source node and for all passively receiving nodes to be able to decode the data packet to obtain a one-way-travel-time (OWTT) pseudo-range measurement and navigational ephemeris data. The navigation method reported herein uses a surface ship acting as a single moving reference beacon to a fleet of passively listening underwater vehicles. All vehicles within acoustic range are able to concurrently measure their slant range to the reference beacon using the OWTT measurement methodology and additionally receive transmission of reference beacon position using the modem data packet. The advantages of this type of navigation system are that it can (i) concurrently navigate multiple underwater vehicles within the vicinity of the surface ship and (ii) provide a bounded-error XY position measure that is commensurate with conventional moored long-baseline (LBL) navigation systems [i.e., O(1 m)] but unlike LBL is not geographically restricted to a fixed-beacon network. We present results for two different field experiments using a two-node configuration consisting of a global positioning system-equipped surface ship acting as a global navigation aid to a Doppleraided autonomous underwater vehicle. In each experiment, vehicle position was independently corroborated by other standard navigation means. Results for a maximum likelihood sensor fusion framework are reported.C 2010 Wiley Periodicals, Inc.

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“…Considering low-power and low-cost devices and targeting short-medium distances, the most important available products are described in (Yan et al, 2007) (Singh et al, 2006) and they can reach data-rate in the order of Kb/s.…”

Section: Underwater Wireless Communication: Physical Aspectsmentioning

confidence: 99%