RT2: real-time ray-tracing for underwater range evaluation

Authors:
Giuseppe Casalino;Andrea Caiti;Alessio Turetta;Enrico Simetti
Affiliations:
Department of Communication Computer and System Science, University of Genoa, Genova, Italy 16145;Department of Electrical Systems and Automation, University of Pisa, Pisa, Italy 56122;Department of Communication Computer and System Science, University of Genoa, Genova, Italy 16145;Department of Communication Computer and System Science, University of Genoa, Genova, Italy 16145
Venue:
Intelligent Service Robotics
Year:
2011

Citing 5
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Abstract

The paper deals with the distributed acoustic localization of teams of autonomous underwater vehicles (AUVs) and proposes a novel algorithm, real-time ray-tracing (RT2), for evaluating the distance between any pair of AUVs in the team. The technique, based on a modified formulation of the non-linear sound-ray propagation laws, allows efficient handling of the distorted and reflected acoustic ray paths. The proposed algorithm can be easily implemented on-board of low-cost AUVs, requiring the presence, on each vehicle, of an acoustic modem and a pair of look-up tables, a-priori built on the basis of the assumed knowledge of the depth-dependent sound velocity profile. On such a basis, every AUV can compute its distance w.r.t. to any other neighbor team member, through time-of-flight measurements and the exchanges of depth information only.