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Spiral beacon calibration and experiments for underwater localization

2024-04-15Conference object Restricted access
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dc.contributor.authorViegas, Rúben
dc.contributor.authorZabel, Friedrich
dc.contributor.authorGomes, João
dc.contributor.authorSilva, António
dc.date.accessioned2024-12-13T11:36:06Z
dc.date.available2024-12-13T11:36:06Z
dc.date.issued2024-04-15
dc.description.abstractUnderwater localization and navigation are still challenging tasks due to the underwater acoustic channel characteristics. Spiral sources are underwater transducers that create structured acoustic fields from which the angle to the source can be readily obtained. The angle estimation is obtained from the phase difference between transmitted circular and spiral fields, but for reliable operation the transducers must be properly calibrated. This paper presents a spiral source calibration procedure with the integration of a stepper motor to measure phase and amplitude features of the transmitted circular and spiral fields, at multiple bearing angles. The calibration was performed for two developed prototypes, which in turn determined the most appropriate operating frequency range. For one of the prototypes, its linearity was confirmed at all the tested frequency ranges through homogeneity and additivity tests. In addition to calibration, acoustic localization experiments were carried out with the transmission of circular and spiral fields, with a comparative analysis against footage captured from the top of the test pool. The phase difference of the mobile hydrophone was subtracted to the phase difference of the reference hydrophone to compute the angle between the spiral beacon and the mobile hydrophone. The localization results revealed noteworthy angular errors, hypothesized to be associated with the Doppler effect induced by the movement of the mobile hydrophone. These calibration and localization experiments suggest that spiral sources could be an important enabling technology for safe and reliable localization of underwater vehicles.eng
dc.description.sponsorship2023.03744.BD, UIDB/50009/2020
dc.identifier.doi10.1109/oceans51537.2024.10682258
dc.identifier.isbn979-8-3503-6207-7
dc.identifier.urihttp://hdl.handle.net/10400.1/26467
dc.language.isoeng
dc.peerreviewedyes
dc.publisherIEEE
dc.relationFrom abundance to disappearance. Identifying causes for Hippocampus guttulatus population decrease in the Ria
dc.relationLaboratory of Robotics and Engineering Systems
dc.relation.ispartofOCEANS 2024 - Singapore
dc.rights.uriN/A
dc.subjectSpiral source
dc.subjectUnderwater acoustics
dc.subjectTransducer calibration
dc.subjectUnderwater localization
dc.titleSpiral beacon calibration and experiments for underwater localizationeng
dc.typeconference object
dspace.entity.typePublication
oaire.awardTitleFrom abundance to disappearance. Identifying causes for Hippocampus guttulatus population decrease in the Ria
oaire.awardTitleLaboratory of Robotics and Engineering Systems
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/3599-PPCDT/PTDC%2FMAR%2F122616%2F2010/PT
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F50009%2F2020/PT
oaire.citation.conferencePlaceSingapore
oaire.citation.titleOCEANS 2024 - SINGAPORE
oaire.fundingStream3599-PPCDT
oaire.fundingStream6817 - DCRRNI ID
oaire.versionhttp://purl.org/coar/version/c_970fb48d4fbd8a85
person.familyNameViegas
person.familyNameGomes
person.familyNameSilva
person.givenNameRúben
person.givenNameJoão
person.givenNameAntónio
person.identifier.ciencia-id4A18-15C1-0484
person.identifier.ciencia-id3112-8784-70FD
person.identifier.ciencia-idEB17-11D8-E7BD
person.identifier.orcid0000-0002-3982-2082
person.identifier.orcid0000-0002-0346-6207
person.identifier.orcid0000-0002-1724-7777
person.identifier.ridN-6554-2013
person.identifier.scopus-author-id55846463600
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
project.funder.nameFundação para a Ciência e a Tecnologia
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