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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.
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https://hal.archives-ouvertes.fr/hal-03456667
Contributor : Raphaël Garin Connect in order to contact the contributor
Submitted on : Tuesday, November 30, 2021 - 10:57:21 AM
Last modification on : Saturday, March 5, 2022 - 3:04:02 PM
Long-term archiving on: : Tuesday, March 1, 2022 - 6:37:45 PM

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  • HAL Id : hal-03456667, version 1

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Raphaël Garin, Charles Vanwynsberghe, Philippe Forjonel, Beatrice Tomasi, Pierre-Jean Bouvet. Simultaneous underwater acoustic localization and communication: an experimental study. OCEANS 2021, Sep 2021, Porto, Portugal. ⟨hal-03456667⟩

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