Underwater Acoustic Positioning Based on MEMS Microphone for a Lightweight Autonomous Underwater Vehicle "Kyubic"

DOI 機関リポジトリ HANDLE
  • Inniyaka Irmiya R.
    Department of Life Sciences and Systems Engineering, Kyushu Institute of Technology
  • Solpico Dominic B.
    Department of Life Sciences and Systems Engineering, Kyushu Institute of Technology
  • Hamada Daiki
    Department of Human Intelligent System, Kyushu Institute of Technology
  • Sugino Akihiro
    Department of Human Intelligent System, Kyushu Institute of Technology
  • Tanaka Rikuto
    Department of Human Intelligent System, Kyushu Institute of Technology
  • Nishida Yuya
    Department of Human Intelligent System, Kyushu Institute of Technology
  • Ishii Kazuo
    Department of Human Intelligent System, Kyushu Institute of Technology

抄録

Autonomous Underwater Vehicle positioning is important for accurate control and high-quality data collection. Conventional positioning systems are expensive. This paper describes the design and performance results of control using equations of motion and an inexpensive acoustic positioning system implemented on a lightweight AUV "KYUBIC" for Underwater Robotic competition in Okinawa 2021. The velocity used to estimate the self-position of the AUV is calculated form the equation of motion without integrating the acceleration. The acoustic positioning method is based on Super-short baseline (SSBL) principle. The system design comprises of self-made hydrophone module using MEMS microphone. The estimated distance and angle are integrated for dynamic control of AUV to locate the position of a Pinger.

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