Localization of Autonomous Underwater Vehicles using Airborne Visible Light Communication Links

J. B. Saif, M. Younis, F. Choa, Akram Ahmed
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Abstract

In an application involving Autonomous Underwater Vehicles (AUV) it is important to track the trajectory and spatially correlate the collected data. Relying on an Inertial Navigation System (INS) while factoring in the initial AUV position would not suffice given the major accumulated errors. Employing surface nodes is a logistically complicated option, especially for missions involving emerging events. This paper proposes a novel localization approach that offers both agility and accuracy. The idea is to exploit a communication mechanism across the air-water interface. In particular, we employ an airborne unit, e.g., a drone, that scans the area of interest and uses visual light communication (VLC) to reach the AUV. In essence, the airborne unit defines virtual anchors with known GPS coordinates. The AUV uses the light intensity of the received VLC transmissions to estimate the range relative to the anchor points and then determine its own global coordinates at various time instances. The proposed approach is validated through extensive simulation experiments. The simulation results demonstrate the viability of our approach and analyze the effect of the VLC parameters.
基于机载可见光通信链路的自主水下航行器定位
在涉及自主水下航行器(AUV)的应用中,跟踪轨迹和空间关联收集到的数据非常重要。考虑到主要的累积误差,依靠惯性导航系统(INS)来考虑AUV的初始位置是不够的。使用地面节点在后勤上是一个复杂的选择,特别是在涉及新事件的任务中。本文提出了一种既灵活又准确的定位方法。这个想法是利用一种跨越空气-水界面的通信机制。特别是,我们采用了一种机载设备,例如无人机,它可以扫描感兴趣的区域,并使用视觉光通信(VLC)到达AUV。本质上,空降单位用已知的GPS坐标定义虚拟锚点。AUV使用接收到的VLC传输的光强度来估计相对于锚点的距离,然后在不同的时间实例中确定自己的全局坐标。通过大量的仿真实验验证了该方法的有效性。仿真结果验证了该方法的可行性,并分析了VLC参数的影响。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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