This paper designs a novel geometry-conformal
antenna for Magnetic Induction (MI)-based subsea wireless
communications for autonomous underwater vehicles (AUV). The
designed tri-directional antennas can be wrapped directly on the
surface of AUVs, such that the AUVs fluid dynamics are well
maintained to ensure power efficiency of the vehicles. In addition,
ferrite materials are added between the MI antenna and the
metallic body surface of the AUVs to overcome the shielding effect
and enhance the MI signal strength. The designed MI communication
system is implemented in hardware and the effectiveness
of the geometry-conformal MI antenna is demonstrated through
COMSOL simulations and lab experiments.
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Localization using a Particle Filter and Magnetic Induction Transmissions: Theory and Experiments in Air
Localization is a key ability for robot navigation and collision avoidance. The advent of technologies such as GPS have led to many improvements in terrestrial navigation. Unfortunately traditional electromagnetic (EM) communications propagate poorly through lossy media such as underwater and underground. Therefore, localization remains a challenging problem in such environments, necessitating other approaches such as acoustics and magnetic induction (MI). This paper investigates estimating the relative location of a pair of MI triaxial coil antennas in air, as a preliminary step to underwater applications. By measuring the voltages induced in the receiving antenna when the transmitting antenna's coils are turned on sequentially, the distance between the antennas can be computed. Then, with knowledge of the current velocities of the antennas, we can apply a particle filter to generate an estimate of the location of the transmitting antenna with respect to the receiving one. The theory is supported by simulations and later verified through a series of experiments.
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- Award ID(s):
- 1646607
- NSF-PAR ID:
- 10219779
- Date Published:
- Journal Name:
- 2020 IEEE Texas Symposium on Wireless and Microwave Circuits and Systems (WMCS)
- Page Range / eLocation ID:
- 1 to 6
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.1109/WMCS49442.2020.9172279
