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The effect of the maritime environment on radio frequency (RF) propagation is not well understood. In this work, we study the propagation of ad hoc 2.4 GHz and 5 GHz wireless local area network systems typically used for near-shore operation of unmanned surface vehicles. In previous work, maritime RF propagation performance is evaluated by collecting RSSI data over water and comparing it against existing propagation models. However, the multivariate effect of the maritime environment on RF propagation means that these single-domain studies cannot distinguish between factors unique to the maritime environment and factors that exist in typical terrestrial RF systems. In this work, we isolate the effect of the maritime environment by collecting RSSI data over land and over seawater at two different frequencies and two different ground station antenna heights with the same physical system in essentially the same location. Results show that our 2.4 GHz, 2 m antenna height system received a 2 to 3 dBm path loss when transitioning from over-land to over-seawater (equivalent to a 25 to 40% reduction in range); but increasing the frequency and antenna height to 5 GHz, 5 m respectively resulted in no meaningful path loss under the same conditions; this reduction in path loss by varying frequency and antenna height has not been demonstrated in previous work. In addition, we studied the change in ground reflectivity coefficient,    R   , when transitioning from over-land to over-seawater. Results show that    R    remained relatively constant, −0.49 ≤ R ≤ −0.45, for all of the over-land experiments; however, R demonstrated a frequency dependence during the over-seawater experiments, ranging from −0.39 ≤ R ≤ −0.33 at 2.4 GHz, and −0.51 ≤ R ≤ −0.50 at 5 GHz.

journal of marine science and engineering

Received Signal Strength Indication (RSSI) of 2.4 GHz and 5 GHz Wireless Local Area Network Systems Projected over Land and Sea for Near-Shore Maritime Robot Operations