Simultaneous underwater acoustic localization and communication: an experimental study

Currently in the field of autonomous underwater vehicles localization, it is difficult to do without a Doppler Velocity Log (DVL). Combined with distance measurements or not, this fairly expensive sensor is a must-have. In this paper we introduce our method by combining underwater acoustic communication and localization through Doppler shift estimation needed in the vehicle transmission modem for communication. This cost-effective technique provides an information on transmitter/receiver relative speed. We consider a fixed anchor with known position transmitting regularly to a receiver in a water pool of $3\text{m}^{2}$. Using an Extended Kalman filter, we compare standalone range measurements estimation with speed-only measurements and speed with range combined in the estimation filter. Experimental results demonstrate a consequent gain using speed computation associated with range measurement.