2025_programme: Real-Time Underwater Localization System Based on Position-Keeping USVs for Multiple AUVs

• Day: June 20, Friday
    Location / Time: C. THALIA at 08:50 - 09:10
• Last minutes changes: -
• Session: 29. Underwater Communication Navigation and Positioning
  Organiser(s): N/A
  Chairperson(s): Angeliki Xenaki
• Lecture: Real-Time Underwater Localization System Based on Position-Keeping USVs for Multiple AUVs
  Paper ID: 2223
  Author(s): YOUNGSUN MOON, MINHO KIM, GWANGHO MOON, SEOKJEONG YONG, MYUNGJUN KIM
  Presenter: Youngsun Moon
  Abstract: With the rapid development of Autonomous Underwater Vehicles (AUVs), performance requirements continue to rise, making the evaluation of autonomy and navigation capabilities increasingly critical. However, real-time localization in underwater environments remains challenging due to the impracticality of GPS and conventional wireless communications.\nIn some countries, AUV localization systems rely on fixed tracking devices installed on the seabed or on drifting buoys. However, in Korean waters, securing a dedicated test area is difficult because of high maritime traffic and intensive fishing activities, limiting the direct application of such approaches. To address this constraint, we propose a localization system that can be rapidly deployed regardless of the operational area, using Unmanned Surface Vehicles (USVs) equipped with station-keeping capabilities. The system comprises an acoustic transmitter mounted on the AUV, signal receivers on the USVs, and an operation control unit on the mothership, and it supports the simultaneous tracking of multiple AUVs using up to nine USVs and six drifting buoys for particular scenarios.\nAcoustic signals transmitted from each AUV can be detected by the USV-based receivers at distances of up to approximately 5 km. The detected information, along with other operational data, is forwarded to the mothership for integrated monitoring and remote control of USV navigation and detection functions. Using Time Difference of Arrival (TDoA) and Time of Arrival (ToA) methods, the system estimates real-time positions of a AUV and applies additional tracking algorithms to enhance accuracy. In field trials at a depth of 1,000 m, the system achieved approximately 15 m accuracy in tracking targets stationed at distances of 1 km, 3 km, and 5 km, thus demonstrating its effectiveness and reliability.
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  This paper is a candidate for the "Prof. John Papadakis award for the best paper presented by a young acoustician(under 40)"
• Corresponding author: Mr YOUNGSUN MOON
  Affiliation: LIGNex1
  Country: Korea, Republic of