Cooperative localization of marine vehicles using nonlinear state estimation

G Papadopoulos, M F Fallon, J J Leonard, N M Patrikalakis
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper investigates the problem of cooperative navigation of autonomous marine vehicles using rangeonly acoustic measurements. We consider the use of a single maneuvering autonomous surface vehicle (ASV) to aid the navigation of one or more submerged autonomous underwater vehicles (AUVs), using acoustic range measurements combined with position measurements for the ASV when data packets are transmitted. The AUV combines the data from the surface vehicle with its proprioceptive sensor
more » ... ments to compute its trajectory. In previous work, we presented an experimental demonstration of this approach, using an extended Kalman filter (EKF) for state estimation. In the present paper, we analyze the observability properties of the cooperative ASV/AUV localization problem and present experimental results comparing several different state estimators. Using the weak observability theorem for nonlinear systems, we demonstrate that this cooperative localization problem is best attacked using nonlinear least squares (NLS) optimization. We present experimental results for this new approach and compare it to alternative state estimators, demonstrating superior performance.
doi:10.1109/iros.2010.5650250 dblp:conf/iros/PapadopoulosFLP10 fatcat:lqg6fkotcneizcvncd6vb35tye