A Hybrid Underwater Acoustic and RF Localisation System for Enclosed Environments using Sensor Fusion

Jose Luis Espinosa Mendoza, Mihalis Tsiakkas, Dehao Wu, Simon Watson, Joaquin Carrasco, Peter Green, Barry Lennox

    Research output: Contribution to conferencePaperpeer-review

    Abstract

    Underwater localisation systems are traditionally based on acoustic range estimation, which lacks the accuracy to localise small underwater vehicles in enclosed structured environments for mapping and surveying purposes. The high attenuation of electromagnetic waves underwater can be exploited to obtain a more precise distance estimation over short distances. This work proposes a cooperative localisation system that combines an acoustic absolute localisation system with peer-to-peer distance estimation based on electromagnetic radio frequency (RF) attenuation between multiple robots. The proposed system is able to improve the position estimation of a group of Autonomous Underwater Vehicles (AUVs) or Remote Operated Vehicles (ROVs) for exploring enclosed environments.
    Original languageEnglish
    Publication statusPublished - Jul 2018
    EventTowards Autonomous Robotic Systems - The Bristol Robotics Laboratory, Bristol, United Kingdom
    Duration: 25 Jul 2018 → …
    http://www.brl.ac.uk/taros2018.aspx

    Conference

    ConferenceTowards Autonomous Robotic Systems
    Abbreviated titleTAROS
    Country/TerritoryUnited Kingdom
    CityBristol
    Period25/07/18 → …
    Internet address

    Keywords

    • underwater vehicles
    • localisation

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