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Optimal path shape for range-only underwater target localization using a Wave Glider

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Masmitjà Rusiñol, IvanMés informacióMés informació
Gomáriz Castro, SpartacusMés informacióMés informacióMés informació
Río Fernandez, Joaquín delMés informacióMés informacióMés informació
Kieft, B
O'Reilly, Thomas C.
Bouvet, Pierre-Jean
Aguzzi, Jacopo
Document typeArticle
Defense date2018-10-03
Rights accessOpen Access
All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder
ProjectJERICO-NEXT - Joint European Research Infrastructure network for Coastal Observatory – Novel European eXpertise for coastal observaTories (EC-H2020-654410)
REDES DE SENSORES SUBMARINOS AUTONOMOS Y CABLEADOS APLICADOS A LA MONITORIZACION REMOTA DE INDICADORES BIOLOGICOS (AEI-TEC2017-87861-R)
INTEROPERABILIDAD E INSTRUMENTACION DE PLATAFORMAS AUTONOMAS MARINAS PARA LA MONITORIZACION SISMICA (MINECO-CGL2013-42557-R)
Abstract
Underwater localization using acoustic signals is one of the main components in a navigation system for an autonomous underwater vehicle (AUV) as a more accurate alternative to dead-reckoning techniques. Although different methods based on the idea of multiple beacons have been studied, other approaches use only one beacon, which reduces the system’s costs and deployment complexity. The inverse approach for single-beacon navigation is to use this method for target localization by an underwater or surface vehicle. In this paper, a method of range-only target localization using a Wave Glider is presented, for which simulations and sea tests have been conducted to determine optimal parameters to minimize acoustic energy use and search time, and to maximize location accuracy and precision. Finally, a field mission is presented, where a Benthic Rover (an autonomous seafloor vehicle) is localized and tracked using minimal human intervention. This mission shows, as an example, the power of using autonomous vehicles in collaboration for oceanographic research.
CitationMasmitja, I. [et al.]. Optimal path shape for range-only underwater target localization using a Wave Glider. "International journal of robotics research", 3 Octubre 2018, vol. 37, núm. 12, p. 1447-1462. 
URIhttp://hdl.handle.net/2117/129344
DOI10.1177/0278364918802351
ISSN0278-3649
Publisher versionhttp://journals.sagepub.com/doi/pdf/10.1177/0278364918802351
Other identifiershttp://hdl.handle.net/10261/175000
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