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Acoustical Methods for Azimuth, Range and Heading Estimation in Underwater Swarms

Kottege, Navinda; Zimmer, Uwe


Robotic swarms and specifically schools of semi-autonomous underwater vehicles are becoming more and more of a reality. An essential feature required in most such systems is an efficient and precise relative localisation system. Specific, common requirements include posture estimations of multiple neighbours, controllable sensing ranges, as well as high robustness and accuracy. The presented system is based on acoustically transmitted MLS (Maximum Length Sequence) -signals. Multiple receivers...[Show more]

CollectionsANU Research Publications
Date published: 2008
Type: Conference paper
Source: Proceedings of Acoustics 08


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