Experiments in Moving Baseline Navigation using Autonomous Surface Craft

This paper describes an on-going research effort to achieve real-time cooperative localization of multiple autonomous underwater vehicles. We describe a series of experiments that utilize autonomous surface craft (ASC), equiped with undersea acoustic modems, GPS, and 802.11b wireless ethernet communications, to acquire data and develop software for cooperative localization of distributed vehicle networks. Our experiments demonstrate the capability of the Woods Hole acoustic modems to provide accurate round-trip and one-way range measurements, as well as data transfer, for a fully mobile network of vehicles in formation flight. Finally, we present preliminary results from initial experiments involving cooperative operation of an Odyssey III AUV and two ASCs, demonstrating ranging and data transfer from the ASCs to the Odyssey III