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Design and experimental evaluation of an integrated USBL/INS system for AUVs

M Morgado, P Oliveira, C Silvestre
2010 2010 IEEE International Conference on Robotics and Automation  
This paper addresses the design, development, and test of an integrated Ultra Short Baseline (USBL) and Inertial Navigation System (INS) to be used as a low cost navigation system for underwater robotic  ...  An architecture for the open prototype is proposed, the acoustic array design and calibration is discussed, the inertial sensors package is presented, supporting acoustic signals to be used are briefly  ...  The authors gratefully acknowledge the contribution of Manuel Rufino, Bruno Cardeira, Luis Sebastião, Pedro Serra, João Oliveira, and João Botelho throughout the development of the prototype and the preliminary  ... 
doi:10.1109/robot.2010.5509597 dblp:conf/icra/MorgadoOS10 fatcat:axknjufyrvf7fhzhtkmg6nwkxm

Mobile robotic platforms for the acoustic tracking of deep-sea demersal fishery resources

I. Masmitja, J. Navarro, S. Gomariz, J. Aguzzi, B. Kieft, T. O'Reilly, K. Katija, P. J. Bouvet, C. Fannjiang, M. Vigo, P. Puig, A. Alcocer (+5 others)
2020 Science Robotics  
In combination with seafloor moored acoustic receivers, we detected and tracked the movements of 33 tagged lobsters at 400-m depth for more than 3 months.  ...  Here, we report the implementation of autonomous underwater vehicles and remotely operated vehicles as an aid for acoustic long-baseline localization systems for autonomous tracking of Norway lobster (  ...  Last, in (37) , the authors developed the yet another positioning solver (YAPS) method, where they used the TOA instead of the TDOA to estimate the target position.  ... 
doi:10.1126/scirobotics.abc3701 pmid:33239320 fatcat:suxfo2smrbedhexz7csdw7bcca

Design and Experimental Validation of a USBL Underwater Acoustic Positioning System

Joel Reis, Marco Morgado, Pedro Batista, Paulo Oliveira, Carlos Silvestre
2016 Sensors  
Robust Outliers Detection and Classification for USBL Underwater Positioning Systems.  ...  GAPS, combined USBL + INS + GPS tracking system for fast deployable amp; high accuracy multiple target positioning.  ... 
doi:10.3390/s16091491 pmid:27649181 pmcid:PMC5038764 fatcat:evberognrnazzccdeedwsk6egq

Time-Difference-of-Arrival-Based Localization Methods of Underwater Mobile Nodes Using Multiple Surface Beacons

Feng Liu, Huifang Chen, Luyixin Zhang, Lei Xie
2021 IEEE Access  
To deal with the problem that the number of received positioning messages at one epoch by the underwater node is not enough for the location calculation, we present the modified TDoA-based node localization  ...  The effectiveness of proposed TDoA-based node localization method and two modified methods is validated by simulation results and sea experiment data analytical results.  ...  Institute of China Shipbuilding Industry Corporation and Deep-sea Science and Engineering.  ... 
doi:10.1109/access.2021.3060565 fatcat:djvxiygfvzgxbhs4m4dbvre3m4

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

Tariq Islam, Seok-Hwan Park
2020 IEEE Access  
Underwater Wireless Sensor Networks (UWSNs) offer a huge number of applications, most of which require tagging the sensed data with location information.  ...  Each category is further subdivided into the algorithms that consider node mobility, and those that do not.  ...  On the high side, USBL improves localization coverage and accuracy by combining different localization methods.  ... 
doi:10.1109/access.2020.3027820 fatcat:zcdkkxtsjvgkjlbopd76cq3l6e

A Single-Way Ranging Localization of AUVs Based on PSO of Outliers Elimination

Xinnan Fan, Zhongjian Wu, Jianjun Ni, Chengming Luo
2018 Journal of Robotics  
time of arrival (TOA), time difference of arrival (TDOA), or angle of arrival (AOA).  ...  Localization of autonomous underwater vehicles (AUVs) is a very important and challenging task for the AUVs applications.  ...  Research Funds for the Central Universities (2015B20114) for their support of this paper.  ... 
doi:10.1155/2018/1301497 fatcat:ocvmvwro75gqzlz5pqwj2juyi4

Underwater Acoustic Target Tracking: A Review

Junhai Luo, Ying Han, Liying Fan
2018 Sensors  
In this paper, algorithms for underwater acoustic target tracking are classified based on the methods used as: (1) instrument-assisted methods; (2) mode-based methods; (3) tracking optimization methods  ...  Not only the related knowledge of acoustic tracking instrument and tracking progress is clarified in detail, but also a novel taxonomy method is proposed.  ...  Optimal quantization methods, especially for underwater acoustic target tracking, need further research.  ... 
doi:10.3390/s18010112 pmid:29301318 pmcid:PMC5796336 fatcat:g37wgv7razacxbn7a3sooac7ay

Robust and Cooperative Localization for Underwater Sensor Networks in the Existence of Malicious Anchors

Wenyu Cai, Junlei Yang, Meiyan Zhang, Shiling Peng, Junyi Yang
2019 Sensors  
Due to malicious characteristic of some deliberate anchor nodes, an iterative and cooperative 3D-localization algorithm for underwater sensor networks in the existence of malicious anchors is proposed  ...  methods in terms of localization accuracy and coverage ratio.  ...  Acknowledgments: The authors would like to thank the anonymous reviewers for their helpful and constructive comments that greatly contributed to improving the final version of this paper.  ... 
doi:10.3390/s19204519 fatcat:5sbsk5iysncihayt4xx3twyzei

Sensor Networks for Optimal Target Localization with Bearings-Only Measurements in Constrained Three-Dimensional Scenarios

David Moreno-Salinas, Antonio Pascoal, Joaquin Aranda
2013 Sensors  
In this paper, we address the problem of determining the optimal geometric configuration of an acoustic sensor network that will maximize the angle-related information available for underwater target positioning  ...  In the set-up adopted, a set of autonomous vehicles carries a network of acoustic units that measure the elevation and azimuth angles between a target and each of the receivers on board the vehicles.  ...  Acknowledgments The authors wish to thank the Spanish Ministry of Science and Innovation (MICINN) for support under project DPI2009-14552-C02-02.  ... 
doi:10.3390/s130810386 pmid:23941912 pmcid:PMC3812610 fatcat:dq66u52sszgxtjzfjhgwebz2gy

Estimation of Location and Orientation for Underwater Vehicles from Range Measurements [article]

Sai Krishna Kanth Hari and Kaarthik Sundar and Jose Braga and Joao Teixeira and Joao Sousa and Swaroop Darbha
2019 arXiv   pre-print
Localization is an important required task for enabling vehicle autonomy for underwater vehicles.  ...  The proposed method for localization accounts captures this uncertainty by bounding the true distance with an increasing (calibrating) function of the range measurement.  ...  Department of Energy through the LANL/LDRD Program and the Center for Nonlinear Studies for this work.  ... 
arXiv:1808.03198v2 fatcat:2jlw574ai5ccbfwevt3mbuvikm

Cooperative Localization in Mobile Underwater Acoustic Sensor Networks

Sergej Neumann
Wenn ein Fahrzeug ein Datenpaket mit seiner eignen Position aussendet, können andere Fahrzeuge mit einem USBL-Modem diese Nachricht empfangen.  ...  Ein akustisches Modem ermöglicht die Übertragung von Datenpaketen im Wasser, wärend ein USBL-Sensor die Richtung einer akustischen Quelle bestimmen kann.  ...  For each run an USBL measurement was triggered with the USBL model and the measurement was used in combination with the position estimates of the vehicles.  ... 
doi:10.5445/ir/1000139686 fatcat:mq4tozhlezbuzlfxn3fc5euwp4

Underwater Optical Wireless Communications, Networking, and Localization: A Survey

Nasir Saeed, Abdulkadir Celik, Y Al-Naffouri, Mohamed-Slim Alouini
Underwater wireless communications can be carried out through acoustic, radio frequency (RF), and optical waves.  ...  Finally, we outline the open research challenges and point out the future directions for underwater optical wireless communications, networking, and localization research.  ...  The underwater acoustic ToA distance estimation is mainly affected by dispersion of underwater acoustic channels, multipath fading, and Doppler spread [346] . • TDoA based acoustic ranging: In ToA based  ...