Analysis of Electromagnetic Waves Attenuation for Underwater Localization in Structured Environments

Range sensors based on electromagnetic (EM) waves attenuation along the target distance yield precise distance estimation with a high resolution, depending on the distance. However, their application in a structured underwater environment is difficult because the characteristics of EM waves attenuation in such environments are not considered. In this study, characteristics of EM waves propagation and signal interference effects due to structures are analyzed, and an EM waves distance-attenuation model for a structured underwater environment is proposed, along with sensor installation guidelines. The characteristics of EM waves propagation and the proposed sensor model are verified by several experiments, and the proposed sensor model yields greater accuracy positioning results compared to the previous model.