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.

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