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

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Book cover Towards Autonomous Robotic Systems (TAROS 2018)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10965))

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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.

This work was supported by CONACyT, Innovate UK (KTP10410), Forth Ltd. and The University of Manchester Dalton Cumbrian Facility.

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Authors and Affiliations

  1. School of Electrical and Electronic Engineering, The University of Manchester, Manchester, UK

    Jose Espinosa, Dehao Wu, Simon Watson, Joaquin Carrasco, Peter R. Green & Barry Lennox

  2. KIOS Research and Innovation Center of Excellence, Department of Electrical and Computer Engineering, University of Cyprus, Nicosia, Cyprus

    Mihalis Tsiakkas

Authors
  1. Jose Espinosa
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  2. Mihalis Tsiakkas
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  3. Dehao Wu
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  4. Simon Watson
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  5. Joaquin Carrasco
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  6. Peter R. Green
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  7. Barry Lennox
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Corresponding author

Correspondence to Jose Espinosa .

Editor information

Editors and Affiliations

  1. University of the West of England, Bristol, United Kingdom

    Manuel Giuliani

  2. University of Bath, Bath, United Kingdom

    Tareq Assaf

  3. University of Bristol, Bristol, United Kingdom

    Maria Elena Giannaccini

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Espinosa, J. et al. (2018). A Hybrid Underwater Acoustic and RF Localisation System for Enclosed Environments Using Sensor Fusion. In: Giuliani, M., Assaf, T., Giannaccini, M. (eds) Towards Autonomous Robotic Systems. TAROS 2018. Lecture Notes in Computer Science(), vol 10965. Springer, Cham. https://doi.org/10.1007/978-3-319-96728-8_31

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  • DOI: https://doi.org/10.1007/978-3-319-96728-8_31

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-96727-1

  • Online ISBN: 978-3-319-96728-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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