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This paper proposes advanced methodologies for the study of tagged marine animals, resorting to telemetry techniques. The robotic tools to be developed and operated will be able to track the acoustic signals emitted by the animals, based on range and depth data acquired with ultra-short baseline positioning (USBL) systems aided Inertial Navigation Systems (INS). The USBL is composed of an array of...
This paper addresses the design, development, and test of an integrated Ultra Short Baseline (USBL) and Inertial Navigation System (INS) to be used as a low cost navigation system for underwater robotic vehicles. An architecture for the open prototype is proposed, the acoustic array design and calibration is discussed, the inertial sensors package is presented, supporting acoustic signals to be used...
This paper presents and experimentally validates two closed-form underwater acoustic positioning methods with experimental data from an Ultra-Short Base Line (USBL) system developed from scratch. The prototype underwater positioning device that is being developed is planned to be extensively used within the framework of the European TRIDENT project. Both positioning methods compute the localization...
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