Localisation using undersea wireless networks

Underwater navigation for Autonomous Underwater Vehicles (AUVs) is a challenging task, requiring a trade-off between performance, costs and operational time. The project Network Long Base Line (Net-LBL) proposes a system for acoustic-based navigation that relies on the addition of localisation services to underwater networks. The localisation capability is added on top of existing networks, without imposing constraints on their structure or operation. All the nodes can act as transponders of a network baseline, with no need for dedicated instrumentation. This paper evaluates the Net-LBL system using an interval method-based navigation solution in a number of configurations, including the use of TDMA and CSMA MAC protocols, range-only and bearing-only measurements, and with different geometries. Results collected during the NETLBL17b sea trial, held in the Gulf of La Spezia, Italy, are presented and discussed.