Underwater localization utilizing a modified acoustic indoor tracking system

We present a modified indoor localization system and the research into localization of divers utilizing acoustic chirp signals. The ASSIST infrastructure is used, which implements TCP/IP-based time synchronization for receiver nodes, timestamping of received chirps and server-side localization. Modifications of the original system are shown, as the transmission of signals at higher frequency and operation with high impedance transducers for the water channel. The results of position measurements in an indoor test pool as well as a small lake are shown to verify the systems functionality and investigate different multipath environments.