1. Underwater Network Localization Patrick Lazar, Tausif Shaikh, Johanna Thomas, Kaleel Mahmood University of Connecticut Department of Electrical Engineering

2. Outline Objective Range Test Asynchronous Test GUI Test Bed Future Tasks Timeline Budget

3. Objective Design a highly accurate localization system capable of being used on underwater vehicles. Implement localization algorithms for real time testing. Provide the AUV senior design group with an effective localization schematic that can be integrated into the AUV for underwater tracking.

4. Range Test Variance is approximately 0.08 m. Add speed of sound

5. Range Test Results

6. Asynchronous Localization

7. Asynchronous Code Flow Chart Start Text Reader Positioning Algorithm Output to GUI Node Localization Sequence

8. Asynchronous Maximum Likelihood The asynchronous localization algorithm is centered around the above maximum likelihood equation which we implemented in C:

9. Swimming Pool 7.967.836.548.999.723.459.547.837.8 7.96 8.99 6.54 6.5 6.54 9.72 7.83 3.45 7.8 4.12 4.1 6.77 5.33 6.54 2.85 3.27 3.2 8.32 9.44 3.76 9.9 8.4 6.6 5.5 8.91 0.05 AUV MLE

10. Graphical User Interface (GUI) A virtual representation of the asynchronous localization system. Read the coordinates of AUV from the output of the asynchronous algorithm. AUV will move to the correct position. Software: QT Project

11. Graphical User Interface (GUI)

12. Test Bed Preform hardware testing and software verification before actual testing. – Check node sending/receiving capabilities – Calibrate node offsets. Allows us to quickly run simulations.

13. Test Bed

14. Budget Currently all our hardware needs are handled by the Underwater Sensor Network Lab. In terms of software the version of Code Composer studio we use is a free license version provided by the company. Spent: $11.94 on battery for laser range finder $22.83 on a bucket for the test bed $965.23 left of $1000 Budget

15. Future Work Relative Mapping – Place all nodes into water. – Assume one node to be the origin – Asynchronous clocks, no other known positions. – Nodes send messages to each other, use the range between nodes to create a map of their positions relative to one another. Lake Testing at Mansfield Hollow

16. Timeline September Project Statement. Background research in existing Localization methods. October Project specifications. Additional localization research. Coding C November Code composer studio setup and completion of tutorial on coding in C. Finalize implementation plans. December Ranging and noise pool tests using two nodes. Coding C algorithms. January Ranging and pool tests using two nodes. Hardware setup of remaining nodes. Field testing of algorithms. February Field testing of algorithms. March Field testing of algorithms. Relative mapping research and implementation April Integration of localization with other groups. May Present completed project

17. Questions?