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JRM Vol.36 No.1 pp. 190-200
doi: 10.20965/jrm.2024.p0190
(2024)

Paper:

One-Way-Signal-Based Localization Method of Multiple Autonomous Underwater Vehicles for Distributed Ocean Surveys

Takumi Matsuda* ORCID Icon, Yang Weng** ORCID Icon, Yuki Sekimori** ORCID Icon, Takashi Sakamaki**, and Toshihiro Maki** ORCID Icon

*School of Science and Technology, Meiji University
1-1-1 Higashi-Mita, Tama-ku, Kawasaki-shi, Kanagawa 214-8571, Japan

**Institute of Industrial Science, The University of Tokyo
4-6-1 Komaba, Meguro-ku, Tokyo 153-8505, Japan

Received:
May 23, 2023
Accepted:
October 12, 2023
Published:
February 20, 2024
Keywords:
autonomous underwater vehicle (AUV), multiple AUVs, underwater survey
Abstract

This study proposes a simultaneous localization method of a group of autonomous underwater vehicles (AUVs) based on one-way signals to realize distributed oceanographic surveys. Each AUV group consists of a single high-performance AUV (parent AUV) and the other AUVs (child AUVs). The child AUVs estimate their states (position and heading) based on the parent AUV as a positioning reference. By assuming a situation in which many AUV groups are deployed, the child AUVs can receive positioning signals from multiple parent AUVs. Although only the direction information of the parent AUV can be obtained from a signal from one parent AUV, the child AUVs can estimate their states by receiving signals from different parent AUVs. Sea experiments were conducted using an autonomous buoy and an AUV. The effectiveness of the proposed method was evaluated through a navigation simulation based on the sensor data obtained from the experiments.

The scene of the sea experiments

The scene of the sea experiments

Cite this article as:
T. Matsuda, Y. Weng, Y. Sekimori, T. Sakamaki, and T. Maki, “One-Way-Signal-Based Localization Method of Multiple Autonomous Underwater Vehicles for Distributed Ocean Surveys,” J. Robot. Mechatron., Vol.36 No.1, pp. 190-200, 2024.
Data files:
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Last updated on Jul. 19, 2024