Print Email Facebook Twitter Validation of models for use in localisation Title Validation of models for use in localisation Author Kokke, C.A. Blom, J.F.J. Contributor Leus, G.J.T. (mentor) Borota, D. (mentor) Faculty Electrical Engineering, Mathematics and Computer Science Department Microelectronics Programme BSc. Electrical Engineering Date 2016-06-30 Abstract Underwater robotics face an interesting challenge. Since electromagnetic waves barely propagate underwater, systems like GPS are unusable. However, for a robot to function autonomously, it needs to be able to know its position. Because of this, using acoustic waves for transmitting signals underwater has been established to be the way forward. As of yet this has been insufficiently researched for confined and shallow-water environments specifically. Fleet Cleaner is a start-up company working on a ship hull maintenance robot that functions both above and underwater. This thesis is written in part as the next step in their research to develop an underwater acoustic positioning system for use with the Fleet Cleaner robot. One of the challenges faced is that of multipath propagation. Acoustic waves from a transmitter arrive at a receiver through multiple paths at different times. This makes localisation significantly harder. Being able to predict these propagation paths would alleviate this problem. The main objective of the project this thesis is part of is therefore: "Developing a propagation model of an underwater acoustic signal in a shallow-water environment". The project was split up in three parts, where this thesis describes the part titled "Validation of model properties". Here, the main objective is to answer the question: "Does the product or system meet the needs of the client?" This thesis describes the process of finding the answer to this question given the requirements and constraints of the project within which was operated. This thesis contains evaluation of channel deconvolution methods, methods of signal and data comparison, testing procedures and validation methods and schemes. The results of these evaluations are explained and whether the models developed are useful in localising a transmitter amidst a set of receiver is determined. To reference this document use: http://resolver.tudelft.nl/uuid:e7b5301b-605c-4104-8855-d331d3a9de9f Embargo date 2021-07-01 Part of collection Student theses Document type bachelor thesis Rights (c) 2016 Blom, J.F.J.