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Introduction
The goal of the project, is to be able to perform persistent tracking of acoustic fish tags through combining sensor readings from multiple vessels through multilateration. To further break this down, a scenario of the type of mission is given below.
| # | Mission Phase | Description |
|---|---|---|
| 1 | Transport | Bring the equipment to the deployment area. |
| 2 | Deployment | Assemble and prepare the vessel. Ensure supporting systems (Server/Operator console) are running. Launch vessels. |
| 3 | Travel to search area | Vessels travel from deployment area to search area. |
| 4 | Collaborative search | Search area is divided between vessels. Ends after first tag detection. If first search yields no result, perform predetermined action, like searching again or extending search area. |
| 5 | First tag contact | First contact with acoustic tag. The detecting vessel waits or tries single vessel tag positioning. Other vessels congregate to its vicinity, entering formation. |
| 6 | All vessel tag contact | Enter tag formation to commence collaborative fish tracking. |
| 7 | Collaborative fish tracking | Keep formation around tag to estimate its position. |
| 8 | Tracking end | Mission finished or battery level low – wait for pickup or return to predetermined point (like deployment point). |
| 9 | Berthing/ Dismantling equipment | Removing the vessel from the water. |
| 10 | Transport | Pack up equipment and leave deployment area |