Device Design and System Integration of a Two-Axis Water-immersible Micro Scanning Mirror (WIMSM) to Enable Dual-modal Optical and Acoustic Communication and Ranging for Underwater Vehicles

Reliable underwater acoustic communication is demanded for autonomous underwater vehicles (AUVs) and remotely operated underwater vehicles (ROVs). Orthogonal frequency-division multiplexing (OFDM) is robust with multipath interference; however, it is sensitive to Doppler. Doppler compensation is given by two-step processing of resampling and residual carrier frequency offset (CFO) compensation. This paper describes the improvement of a resampling technique. The conventional method assumes a constant Doppler shift during a communication frame. It cannot cope with Doppler fluctuation, where relative speeds between transmitter and receiver units are fluctuating. We propose a parallel resampling technique that a resampling range is extended by measured Doppler standard deviation. The effectiveness of parallel resampling has been confirmed in the communication experiment. The proposed method shows better performance in bit error rates (BERs) and frame error rates (FERs) compared with the conventional method.

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Electromagnetic Compatibility for Device Design and System Integration

10.1007/978-3-642-03290-5 ◽

2009 ◽

Cited By ~ 8

Author(s):

Karl-Heinz Gonschorek ◽

Ralf Vick

Keyword(s):

System Integration ◽

Electromagnetic Compatibility ◽

Device Design

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Cooperative Localization Method for AUV Using Acoustic Communication Measurement

Advanced Engineering Forum ◽

10.4028/www.scientific.net/aef.4.227 ◽

2012 ◽

Vol 4 ◽

pp. 227-231 ◽

Cited By ~ 1

Author(s):

Li Chuan Zhang ◽

Ming Yong Liu ◽

Fu Bin Zhang

Keyword(s):

Acoustic Communication ◽

Navigation System ◽

Autonomous Underwater Vehicles ◽

Underwater Vehicles ◽

Cooperative Localization ◽

Relative Location ◽

Navigation Problem ◽

Cooperative Navigation ◽

Acoustic Device ◽

Navigation Accuracy

In this paper, we propose an algorithm based on double acoustic measurement for cooperative navigation of multiple autonomous underwater vehicles. Research on cooperative navigation of AUV is an important topic to solve the navigation problem in long range and deep sea. We investigate the improvement in navigation accuracy. In the Leader-follow structure, the leader AUV is equipped with high precision navigation system, and the follow AUV is equipped with low precision navigation system. They all are equipped with acoustic device to measure relative location. Traditionally geometry triangulation method is used to calculate the position of follow AUV, the method may cause fault error solution. Double acoustic communication measurement method was designed, which fused the proprioceptive and exteroceptive sensors. The research results prove that the navigation accuracy has been improved effectively.

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