An Architecture for Cooperative Localization in Underwater Acoustic Networks

Abstract

This paper outlines an architecture for underwater acoustic cooperative localization. Our system leverages communication within an acoustic network to both share navigation information and measure the relative range between vehicles. We employ a factor graph framework for vehicle position estimation. The underlying structure of the factor graph formulation provides a low-bandwidth estimation framework that is tolerant to communication dropout. We detail the hardware and software used to implement a three vehicle cooperative network and provide a performance summary over several field trials.

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Document Details

Document Type
Technical Report
Publication Date
Oct 24, 2015
Accession Number
AD1015535

Entities

People

  • Jeffrey M. Walls
  • Ryan M. Eustice

Organizations

  • University of Michigan

Tags

Communities of Interest

  • Autonomy
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Acoustic Channels
  • Acoustic Communications
  • Acoustic Navigation
  • Acoustic Ranges
  • Bandwidth
  • Communication Channels
  • Communication Systems
  • Computing System Architectures
  • Global Positioning Systems
  • Measurement
  • Multiple Access
  • Navigation
  • Robotics
  • Time Division Multiple Access
  • Underwater Acoustic Communications
  • Underwater Vehicles
  • Vehicles

Fields of Study

  • Computer science

Readers

  • Acoustical Oceanography.
  • Distributed Systems and Data Platform Development
  • Radio communications and signal processing.