Sharma Suryansh, Van Passen Daniel, Prasad R Venkatesha, Chowdhury Kaushik
Networked Systems Group, Delft University of Technology, Delft, Netherlands.
Department of Electrical & Computer Engineering, The University of Texas at Austin, Austin, USA.
Commun Eng. 2025 May 23;4(1):93. doi: 10.1038/s44172-025-00422-5.
Autonomous Underwater Vehicles (AUVs) face persistent challenges in localization compared to their counterparts on the ground due to limitations with methods like Global Positioning System (GPS). We propose a novel system for localization, Pisces, that leverages the Angle of Arrival (AoA) and Received Signal Strength Ratio (RSSR) of robot-mounted blue LED signals. This method provides a spectrally efficient training-free solution for estimating 3D underwater positions. The system remains effective despite high water turbidity with a relatively low impact on marine life compared to similar acoustic methods. Pisces is less complex, computationally efficient, and uses less power than camera-based solutions. Pisces enables robust relative localization, especially in swarms of robots with the potential for additional applications like docking. We demonstrate high localization accuracy with a Mean Absolute Error (MAE) of 0.031 m at 0.32 m separation and 0.16 m MAE at 1 m separation. Moreover, it achieved this with minimal power consumption, utilizing only 11 mA of transmitter LED current and performing 3D localization within 10 ms for distances up to 3 m.
与地面上的同类设备相比，自主水下航行器（AUV）由于全球定位系统（GPS）等方法的局限性，在定位方面面临持续挑战。我们提出了一种新颖的定位系统——双鱼座（Pisces），它利用安装在机器人上的蓝色发光二极管（LED）信号的到达角（AoA）和接收信号强度比（RSSR）。该方法为估计水下三维位置提供了一种频谱高效的免训练解决方案。尽管水体浊度较高，但与类似的声学方法相比，该系统对海洋生物的影响相对较小，仍然有效。双鱼座系统比基于摄像头的解决方案更简单、计算效率更高且功耗更低。双鱼座能够实现强大的相对定位，特别是在机器人集群中，具有对接等潜在的附加应用。我们展示了高定位精度，在0.32米间距时平均绝对误差（MAE）为0.031米，在1米间距时MAE为0.16米。此外，它以最小的功耗实现了这一点，仅使用11毫安的发射LED电流，并在10毫秒内对高达3米的距离进行三维定位。
