{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,30]],"date-time":"2026-04-30T15:26:50Z","timestamp":1777562810907,"version":"3.51.4"},"reference-count":16,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2017,4,26]],"date-time":"2017-04-26T00:00:00Z","timestamp":1493164800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"German Research Foundation (DFG)","award":["Kr 752\/33-1"],"award-info":[{"award-number":["Kr 752\/33-1"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Self-localization is one of the most challenging problems for deploying micro autonomous underwater vehicles (   \u03bc   AUV) in confined underwater environments. This paper extends a recently-developed self-localization method that is based on the attenuation of electro-magnetic waves, to the    \u03bc   AUV domain. We demonstrate a compact, low-cost architecture that is able to perform all signal processing steps present in the original method. The system is passive with one-way signal transmission and scales to possibly large    \u03bc   AUV fleets. It is based on the spherical localization concept. We present results from static and dynamic position estimation experiments and discuss the tradeoffs of the system.<\/jats:p>","DOI":"10.3390\/s17050959","type":"journal-article","created":{"date-parts":[[2017,4,26]],"date-time":"2017-04-26T13:42:06Z","timestamp":1493214126000},"page":"959","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":20,"title":["Embedded Spherical Localization for Micro Underwater Vehicles Based on Attenuation of Electro-Magnetic Carrier Signals"],"prefix":"10.3390","volume":"17","author":[{"given":"Daniel-Andr\u00e9","family":"Duecker","sequence":"first","affiliation":[{"name":"Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Hamburg 21073, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A.","family":"Geist","sequence":"additional","affiliation":[{"name":"Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Hamburg 21073, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michael","family":"Hengeler","sequence":"additional","affiliation":[{"name":"Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Hamburg 21073, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Edwin","family":"Kreuzer","sequence":"additional","affiliation":[{"name":"Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Hamburg 21073, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marc-Andr\u00e9","family":"Pick","sequence":"additional","affiliation":[{"name":"Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Hamburg 21073, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Viktor","family":"Rausch","sequence":"additional","affiliation":[{"name":"Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Hamburg 21073, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5222-3706","authenticated-orcid":false,"given":"Eugen","family":"Solowjow","sequence":"additional","affiliation":[{"name":"Institute of Mechanics and Ocean Engineering, Hamburg University of Technology, Hamburg 21073, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2017,4,26]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"282","DOI":"10.1109\/LRA.2016.2519947","article-title":"AVEXIS\u2013Aqua Vehicle Explorer for In-Situ Sensing","volume":"1","author":"Griffiths","year":"2016","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_2","unstructured":"Hackbarth, A., Kreuzer, E., and Solowjow, E. (October, January 28). HippoCampus: A micro underwater vehicle for swarm applications. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany."},{"key":"ref_3","unstructured":"Park, D., Kwak, K., Chung, W.K., and Kim, J. (2013, January 6\u201310). Development of underwater distance sensor using EM wave attenuation. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany."},{"key":"ref_4","unstructured":"Park, D., Kwak, K., Kim, J., and Chung, W.K. (October, January 28). Underwater sensor network using received signal strength of electromagnetic waves. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"318","DOI":"10.1109\/JOE.2015.2433851","article-title":"Development of underwater short-range sensor using electromagnetic wave attenuation","volume":"41","author":"Park","year":"2016","journal-title":"J. Ocean. Eng."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Park, D., Kwak, K., Kim, J., and Chung, W.K. (2016, January 16\u201321). 3D underwater localization scheme using EM wave attenuation with a depth sensor. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden.","DOI":"10.1109\/ICRA.2016.7487422"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"1409","DOI":"10.1109\/TMECH.2015.2509466","article-title":"Underwater 3-D Spatial Attenuation Characteristics of Electromagnetic Waves with Omnidirectional Antenna","volume":"21","author":"Kwak","year":"2016","journal-title":"Trans. Mech."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Sydney, N., Napora, S., and Paley, D.A. (2010, January 28\u201330). A Multi-vehicle Testbed for Underwater Motion Coordination. Proceedings of the 10th Performance Metrics for Intelligent Systems Workshop (PerMIS \u201810), Baltimore, MD, USA.","DOI":"10.1145\/2377576.2377597"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"21","DOI":"10.1002\/rob.20324","article-title":"Generation and visualization of large-scale three-dimensional reconstructions from underwater robotic surveys","volume":"27","author":"Pizarro","year":"2010","journal-title":"J. Field Robot."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"161","DOI":"10.1016\/j.ifacol.2015.06.026","article-title":"Combined multiuser acoustic communication and localisation system for \u03bcAUVs operating in confined underwater environments","volume":"48","author":"Dikarev","year":"2015","journal-title":"IFAC-PapersOnLine"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Geist, R.A., Hackbarth, A., Kreuzer, E., Rausch, V., Sankur, M., and Solowjow, E. (2016, January 16\u201321). Towards a Hyperbolic Acoustic One-Way Localization System for Underwater Swarm Robotics. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden.","DOI":"10.1109\/ICRA.2016.7487655"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Renner, C., and Golkowski, A.J. (2016, January 24\u201326). Acoustic Modem for Micro AUVs: Design and Practical Evaluation. Proceedings of the 11th ACM International Conference on Underwater Networks & Systems, Shanghai, China.","DOI":"10.1145\/2999504.3001076"},{"key":"ref_13","unstructured":"Renner, C. (2017, January 6\u20139). Packet-Based Ranging with a Low-Power, Low-Cost Acoustic Modem for Micro AUVs. Proceedings of the 11th International ITG Conference on Systems, Communications and Coding, Hamburg, Germany."},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Ganeriwal, S., Kumar, R., and Srivastava, M.B. (2003, January 5\u20137). Timing-sync protocol for sensor networks. Proceedings of the International Conference on Embedded Networked Sensor Systems, Los Angeles, CA, USA.","DOI":"10.21236\/ADA479052"},{"key":"ref_15","unstructured":"Thrun, S., Burgard, W., and Fox, D. (2005). Probabilistic Robotics, MIT Press."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"107","DOI":"10.1049\/ip-f-2.1993.0015","article-title":"Novel approach to nonlinear\/non-Gaussian Bayesian state estimation","volume":"140","author":"Gordon","year":"1993","journal-title":"IEE Proc. F Radar Signal Process."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/5\/959\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T18:33:50Z","timestamp":1760207630000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/17\/5\/959"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,4,26]]},"references-count":16,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2017,5]]}},"alternative-id":["s17050959"],"URL":"https:\/\/doi.org\/10.3390\/s17050959","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2017,4,26]]}}}