AUV location detection in an enclosed environment

Normally, experiments are done in a controlled environment so that different systems under test can be isolated. The added benefit is that the sensors used are a lot more accurate under controlled conditions. In the experiments perform on underwater robot localization, this was not the case. The sonar localization equipment use perform flawlessly in open water as it was designed to do, but poorly in an indoor pool. It is believed that the sonar had too much power causing too many reflections in the enclosed space. Unfortunately the experiments are better done in a pool so as to control the elements under test. This paper is the search to improve the equipment´s accuracy in an enclosed environment by attempting to reduce the power of the sonar via mechanical means.