Experimental evaluation of Net-LBL: An acoustic network-based navigation system

This paper describes the use and in-field evaluation of a Networked-Long Base Line system (Net-LBL) where a network of underwater nodes cooperate to support the localisation and navigation of mobile vehicles. To avoid the use of dedicated transponders, as for traditional long baseline systems, each node of the network makes use of its underwater acoustic modem to transmit both data and positioning information. The use of the proposed Net-LBL systems has been validated and evaluated during two at-sea campaigns. More specifically, this paper investigates how the use of different communication schemes to reserve the shared underwater channel (i.e. Time Division Multiple Access (TDMA) and Carrier Sensing Multiple Access (CSMA)) impact on the acquisition of range measurements and on the localisation results. The collected results show that CSMA, being more flexible and responsive, can obtain a reduction of the impact on the localisation error by 30% on average and up to 90% with respect to TDMA.

[1]  Hao Zhou,et al.  SeaLinx: a multi-instance protocol stack architecture for underwater networking , 2013, WUWNet.

[2]  Bhaskar Krishnamachari,et al.  Understanding spatio-temporal uncertainty in medium access with ALOHA protocols , 2007, Underwater Networks.

[3]  M. Grund,et al.  Experiments in moving baseline navigation using autonomous surface craft , 2005, Proceedings of OCEANS 2005 MTS/IEEE.

[4]  M. Stojanovic,et al.  Optimized Packet Size Selection in Underwater Wireless Sensor Network Communications , 2012, IEEE Journal of Oceanic Engineering.

[5]  Alessandro Berni,et al.  Software Defined Open Architecture Modem development at CMRE , 2014, 2014 Underwater Communications and Networking (UComms).

[6]  Justin Yackoski,et al.  UW-FLASHR: achieving high channel utilization in a time-based acoustic mac protocol , 2008, Underwater Networks.

[7]  John R. Potter,et al.  The SUNSET framework for simulation, emulation and at-sea testing of underwater wireless sensor networks , 2015, Ad Hoc Networks.

[8]  Kevin D. LePage,et al.  A non-myopic, receding horizon control strategy for an AUV to track an underwater target in a bistatic sonar scenario , 2014, 53rd IEEE Conference on Decision and Control.

[9]  Gabriele Ferri,et al.  An Acoustic Network Navigation System , 2017, J. Field Robotics.

[10]  Ryan M. Eustice,et al.  Experimental comparison of synchronous-clock cooperative acoustic navigation algorithms , 2011, OCEANS'11 MTS/IEEE KONA.

[11]  Benedetto Allotta,et al.  Experimental results with a mixed USBL/LBL system for AUV navigation , 2014, 2014 Underwater Communications and Networking (UComms).

[12]  Roberto Petroccia,et al.  Cooperation and networking in an underwater network composed by heterogeneous assets , 2016, OCEANS 2016 MTS/IEEE Monterey.

[13]  Gabriele Ferri,et al.  Enhancing AUV localization using underwater acoustic sensor networks: Results in long baseline navigation from the COLLAB13 sea trial , 2014, 2014 Oceans - St. John's.

[14]  Luc Jaulin,et al.  Interval SLAM for underwater robots; a new experiment , 2010 .

[15]  Paolo Casari,et al.  The DESERT underwater framework v2: Improved capabilities and extension tools , 2016, 2016 IEEE Third Underwater Communications and Networking Conference (UComms).

[16]  Andrea Caiti,et al.  AUV team cooperation: emerging behaviours and networking modalities , 2012 .

[17]  Andrea Munafo,et al.  A Robust, Opportunistic Clock Synchronization Algorithm for Ad Hoc Underwater Acoustic Networks , 2015, IEEE Journal of Oceanic Engineering.

[18]  Gianluca Dini,et al.  Mobile Underwater Sensor Networks for Protection and Security: Field Experience at the UAN11 Experiment , 2013, J. Field Robotics.

[19]  R. Abbott,et al.  An acoustic navigation technique , 1973 .

[20]  Alessandro Casavola,et al.  Clock synchronization and ranging estimation for control and cooperation of multiple UUVs , 2016, OCEANS 2016 - Shanghai.

[21]  F. H. Jean,et al.  Time Division Access for Military Communications Satellites , 1965, IEEE Transactions on Aerospace and Electronic Systems.

[22]  Simon S. Lam.  Delay Analysis of a Time Division Multiple Access (TDMA) Channel , 1977, IEEE Trans. Commun..

[23]  Joao Alves,et al.  An application of distributed long baseline — Node ranging in an underwater network , 2014, 2014 Underwater Communications and Networking (UComms).

[24]  P. H. Milne,et al.  Underwater Acoustic Positioning Systems , 1983 .

[25]  Gordon J. Pace,et al.  Thesaurus Project: Design of New Autonomous Underwater Vehicles for Documentation and Protection of Underwater Archaeological Sites , 2012, EuroMed.

[26]  O. Kebkal,et al.  Long-baseline Hydro-acoustic positioning using D-MAC communication protocol , 2012, 2012 Oceans - Yeosu.

[27]  Roberto Petroccia,et al.  Investigation of Underwater Acoustic Networking Enabling the Cooperative Operation of Multiple Heterogeneous Vehicles , 2013 .

[28]  João Alves,et al.  Supporting AUV localisation through next generation underwater acoustic networks: Results from the field , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[29]  R. Petroccia,et al.  Implementation of an underwater acoustic network using multiple heterogeneous vehicles , 2012, 2012 Oceans.

[30]  Alex M. Andrew,et al.  Applied Interval Analysis: With Examples in Parameter and State Estimation, Robust Control and Robotics , 2002 .

[31]  Luc Jaulin,et al.  Image Shape Extraction using Interval Methods , 2009 .

[32]  A. Caiti,et al.  Localization of autonomous underwater vehicles by floating acoustic buoys: a set-membership approach , 2005, IEEE Journal of Oceanic Engineering.