A versatile acoustic beacon for navigation and remote tracking of multiple underwater vehicles

In this paper, we present a low-cost versatile device developed to support the navigation of autonomous underwater vehicles. Unlike the usual transponders extensively used for long baseline acoustic navigation of a single vehicle, this device allows the navigation of multiple vehicles and the remote tracking of their positions, without any extra acoustic signals being transmitted. The navigation beacon has a radio buoy connected to an underwater reconfigurable multifrequency transponder. A remote tracking station receives data from the buoy and monitors the position of the vehicles in real time. We describe the mechanical, electronic and software modules involved, as well as the tracking algorithm, and we also present experimental data from an operational mission