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Underwater Network Localization

This project aims to design a highly accurate localization system for underwater vehicles, focusing on real-time testing and integration into AUV designs. Key components include range testing, asynchronous localization algorithms, and a user-friendly graphical interface. Initial results show an impressive variance of approximately 0.08 m in range tests. Future tasks involve relative mapping and lake testing at Mansfield Hollow. Our budget is managed through the Underwater Sensor Network Lab, with a current balance of $965.23 for further hardware and software requirements.

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Underwater Network Localization

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  1. Underwater Network Localization Patrick Lazar, TausifShaikh, Johanna Thomas, KaleelMahmood University of Connecticut Department of Electrical Engineering

  2. Outline • Objective • Range Test • Asynchronous Test • GUI • Test Bed • Future Tasks • Timeline • Budget

  3. Objective • Design a highly accurate localization system capable of being used on underwater vehicles. • Implement localization algorithms for real time testing. • Provide the AUV senior design group with an effective localization schematic that can be integrated into the AUV for underwater tracking.

  4. Range Test • Variance is approximately 0.08 m. • Add speed of sound

  5. Range Test Results

  6. Asynchronous Localization

  7. Asynchronous Code Flow Chart Start Node Localization Sequence Text Reader Positioning Algorithm Output to GUI

  8. Asynchronous Maximum Likelihood • The asynchronous localization algorithm is centered around the above maximum likelihood equation which we implemented in C:

  9. 7.96 7.83 6.54 8.99 9.72 3.45 9.54 7.83 7.8 Swimming Pool 9.72 4.12 6.54 8.32 3.27 2.85 6.77 4.12 9.9 6.77 7.96 7.83 3.45 8.32 7.96 9.72 3.45 6.6 AUV MLE 5.33 6.54 4.12 8.99 2.85 9.72 3.76 6.77 6.5 2.85 3.45 7.8 7.96 0.05 3.76 8.99 5.5 8.4 8.99 4.12 7.83 3.45 7.8 4.12 8.91 6.54 7.8 6.77 7.96 9.72 6.54 8.99 3.45 9.72 7.96 3.2 3.27 2.85 8.99 6.77 9.44 6.54 8.32 3.76 4.1

  10. Graphical User Interface (GUI) • A virtual representation of the asynchronous localization system. • Read the coordinates of AUV from the output of the asynchronous algorithm. • AUV will move to the correct position. • Software: QT Project

  11. Graphical User Interface (GUI)

  12. Test Bed • Preform hardware testing and software verification before actual testing. • Check node sending/receiving capabilities • Calibrate node offsets. • Allows us to quickly run simulations.

  13. Test Bed

  14. Budget • Currently all our hardware needs are handled by the Underwater Sensor Network Lab. • In terms of software the version of Code Composer studio we use is a free license version provided by the company. • Spent: • $11.94 on battery for laser range finder • $22.83 on a bucket for the test bed • $965.23 left of $1000 Budget

  15. Future Work Future Work • Relative Mapping • Place all nodes into water. • Assume one node to be the origin • Asynchronous clocks, no other known positions. • Nodes send messages to each other, use the range between nodes to create a map of their positions relative to one another. • Lake Testing at Mansfield Hollow

  16. Timeline

  17. Questions?

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