Research of 3D omni-directional RF antenna attenuation model for using underwater vehicle localization

The aim of this study is to analyze attenuation pattern in antenna's vertical plane for 3-dimensional position prediction using electromagnetic waves (EM waves) power attenuation (RSSI : Reduced Signal Strength Indicator) in underwater environments. First, this paper shows about feasibility of robot's position and posture elements. And using these elements, this paper defines some model for 3-dimensional attenuation pattern. As follows define, model, this paper also proceeds some experiments for confirming the feasibility of attenuation pattern in vertical plane rotation and axis rotation. Finally, we discuss about those attenuation elements to use in 3-dimensional model.