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首页> 外文会议>International ITG Conference on Systems, Communications and Coding >Packet-Based Ranging with a Low-Power, Low-Cost Acoustic Modem for Micro AUVs
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Packet-Based Ranging with a Low-Power, Low-Cost Acoustic Modem for Micro AUVs

机译：基于数据包的功率低功耗，低成本声学调制解调器，用于微AUV

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The development of cheap micro autonomous underwater vehicles (μAUVs) offers an entirely new technology for monitoring of and maintenance in limnic waters. A vivid vision is that of autonomous swarms of μAUVs performing tasks such as spotting sources of environmental pollution, regularly examining of water quality, or assisting divers in dangerous missions. In this context, a primary focus has been set on underwater communication. While commercial products are prohibitively expensive or too large, we developed a low-power, low-cost acoustic underwater modem for communication. However, underwater distance assessment among μAUVs and relative or absolute self-localization are also mandatory for swarm formation and navigation. In this paper, we explore the ability of the modem to also perform the task of ranging as a preparation for our ongoing work on underwater self-localization. We employ a method for ranging that can be embedded into regular data traffic - hence adding neither extra communication, power consumption, nor hardware - but can also be used stand-alone. Furthermore, we present results of the ranging accuracy from both laboratory and real-world experiments and discuss influencing factors and practicability issues.
机译：廉价的微型自治水下车辆（μVS）的开发为清澈的水域中的监测和维护提供了完全新的技术。生动的愿景是凯沃斯的自主群，表演任务，如环境污染来源，定期检查水质，或协助危险任务的潜水员。在这种情况下，已经在水下通信上设定了主要焦点。虽然商业产品非常昂贵或太大，但我们开发出低功耗，低成本的声学水下调制解调器，用于通信。然而，对于群体的形成和导航，μVS和相对或绝对自定位之间的水下距离评估也是强制性的。在本文中，我们探讨了调制解调器的能力，也能够执行范围的任务作为我们对水下自我定位的持续工作的准备。我们采用了一种可以嵌入到常规数据流量中的方法的方法 - 因此添加了额外的通信，功耗和硬件 - 但也可以使用独立。此外，我们从实验室和现实世界实验中展示了测距准确性的结果，并讨论了影响因素和实用性问题。

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