Synchronization tools of acoustic communication devices in control of underwater sensors, distributed antennas, and autonomous underwater vehicles

2014 ◽  
Vol 5 (4) ◽  
pp. 257-265 ◽  
Author(s):  
K. G. Kebkal ◽  
O. G. Kebkal ◽  
V. K. Kebkal ◽  
R. Petroccia
Keyword(s):  
Acoustic Communication ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Underwater Sensors ◽  
Communication Devices ◽  
Distributed Antennas

scholarly journals Parallel Resampling of OFDM Signals for Fluctuating Doppler Shifts in Underwater Acoustic Communication

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Shingo Yoshizawa ◽  
Takashi Saito ◽  
Yusaku Mabuchi ◽  
Tomoya Tsukui ◽  
Shinichi Sawada
Keyword(s):  
Conventional Method ◽  
Acoustic Communication ◽  
Orthogonal Frequency Division Multiplexing ◽  
Carrier Frequency Offset ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Error Rates ◽  
Underwater Acoustic Communication ◽  
Underwater Acoustic ◽  
Parallel Resampling

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.

scholarly journals Cooperative Localization Method for AUV Using Acoustic Communication Measurement

2012 ◽  
Vol 4 ◽  
pp. 227-231 ◽  
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.

scholarly journals Simulation model for energy consumption and acoustic underwater communication of autonomous underwater vehicles

2021 ◽  
Author(s):  
Peter Danielis ◽  
Helge Parzyjegla ◽  
Mostafa Assem Mohamed Ali ◽  
Frank Sill Torres
Keyword(s):  
Energy Consumption ◽  
Simulation Model ◽  
Acoustic Communication ◽  
Acoustic Waves ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Underwater Acoustic Communication ◽  
Network Simulator ◽  
Underwater Communication ◽  
Underwater Acoustic

AbstractRecently, cooperative autonomous underwater vehicles (AUVs) have been deployed in application areas such as surveillance and protection of maritime infrastructures for inspection and monitoring purposes. These cooperative methodologies require wireless transmission of data between the different AUVs operating in the underwater environment. Communication over ranges exceeding 100 m exclusively relies on underwater acoustic communication. However, the propagating acoustic waves suffer from several challenges due to the presence of path loss, multi-path propagation, the slow and variant propagation speed, background noise, and Doppler distortion. Since the power supply of the AUVs is limited, communication must be very energy efficient and energy constraints have to be known to be able to plan the mission of AUVs. Due to the difficulties of real experiments, the modeling and simulation of the energy consumption and underwater acoustic communication play an essential role in studying and developing these systems. We provide a modular simulation model for the energy consumption and acoustic underwater communication of AUVs implemented in the network simulator OMNeT++ using the INET framework. More specifically, we extend several INET modules in such a way as to reflect the characteristics of AUVs and underwater communication. We study and analyze the AUVs’ energy consumption and dependence of the message quality on different properties such as those mentioned above.

A method for autonomous collision-free navigation of a quadrotor UAV in unknown tunnel-like environments

Robotica ◽  
2021 ◽  
pp. 1-27
Author(s):  
Taha Elmokadem ◽  
Andrey V. Savkin
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Autonomous Underwater Vehicles ◽  
Three Dimensional ◽  
Underwater Vehicles ◽  
Practical Implementation ◽  
Challenging Problem ◽  
Quadrotor Uav ◽  
Navigation Algorithm ◽  
Aerial Vehicles ◽  
Quadrotor Uavs

Abstract Unmanned aerial vehicles (UAVs) have become essential tools for exploring, mapping and inspection of unknown three-dimensional (3D) tunnel-like environments which is a very challenging problem. A computationally light navigation algorithm is developed in this paper for quadrotor UAVs to autonomously guide the vehicle through such environments. It uses sensors observations to safely guide the UAV along the tunnel axis while avoiding collisions with its walls. The approach is evaluated using several computer simulations with realistic sensing models and practical implementation with a quadrotor UAV. The proposed method is also applicable to other UAV types and autonomous underwater vehicles.

scholarly journals Autonomous Underwater Vehicles and Field of View in Underwater Operations

2021 ◽  
Vol 9 (3) ◽  
pp. 277
Author(s):  
Isaac Segovia Ramírez ◽  
Pedro José Bernalte Sánchez ◽  
Mayorkinos Papaelias ◽  
Fausto Pedro García Márquez
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Field Of View ◽  
Guidance System ◽  
Control Algorithms ◽  
Deep Waters ◽  
Underwater Cameras ◽  
Optimal Resolution ◽  
Acquisition Processes ◽  
And Control

Submarine inspections and surveys require underwater vehicles to operate in deep waters efficiently, safely and reliably. Autonomous Underwater Vehicles employing advanced navigation and control systems present several advantages. Robust control algorithms and novel improvements in positioning and navigation are needed to optimize underwater operations. This paper proposes a new general formulation of this problem together with a basic approach for the management of deep underwater operations. This approach considers the field of view and the operational requirements as a fundamental input in the development of the trajectory in the autonomous guidance system. The constraints and involved variables are also defined, providing more accurate modelling compared with traditional formulations of the positioning system. Different case studies are presented based on commercial underwater cameras/sonars, analysing the influence of the main variables in the measurement process to obtain optimal resolution results. The application of this approach in autonomous underwater operations ensures suitable data acquisition processes according to the payload installed onboard.

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