Multi-Unit 1:n
The Multi-Unit 1:n case has up to 16 independent transponders on ROVs or divers. All transponders use the same frequency allocation, so time-division multiplexing is used to keep things coherent. Time division multiplexing is accomplished by individually addressing transponders to request a reply ping. A single transceiver tracks all transmitters.
The position of each transponder is updated at 1/n Hz, where n is the number of transponders in the swarm.
If a topside GPS is associated with the transceiver, the absolute (latitude/longitude) position of each transmitter can be known.
The Mk III model is the only ROVL model that can individually address transponders.
The Multi-Unit 1:n case is partially supported by CeruleanTracker and CeruleanMap software. When in multi-unit mode, the position of each of the units is individually plotted on CeruleanMap. When in multi-unit mode, the Kalman Filter fusion between the ROVL and the Cerulean DVL is disabled. Additionally, users can write their own software to make use of the positional information created.
Last updated