3D underwater localization using EM waves attenuation for UUV docking

In this paper, we propose the underwater localization scheme for unmanned underwater vehicle (UUV) docking through the received signal strength (RSS) of electromagnetic (EM) waves sensors. By using the advantages of EM waves characteristics in water, this sensor can not only measure the distance with low environmental noise, but also guarantee precise localization performance with high sampling rates. In this localization scheme, an underwater wireless sensor network (UWSN) is constructed at target docking place using the sets of RF sensors. This UWSN functions as an artificial landmark during UUV docking. This localization process is operated in the framework of extended Kalman filter (EKF), and iterated during the docking procedure. The proposed scheme is verified by using the trajectory tracking experiment during UUV docking procedure.