Cooperative AUV Navigation Using a Single Surface Craft [chapter]

Maurice F. Fallon, Georgios Papadopoulos, John J. Leonard
2010 Springer Tracts in Advanced Robotics  
Maintaining accurate localization of an autonomous underwater vehicle (AUV) is difficult because electronic signals such as GPS are highly attenuated by water making established land-based localization systems, such as GPS, useless underwater. Instead we propose an alternative approach which integrates position information of other vehicles to reduce the error and uncertainty of the on-board position estimates of the AUV. This approach uses the WHOI Acoustic Modem to exchange vehicle
more » ... n estimates -albeit at low transmission rates -while simultaneously estimating inter-vehicle range. The performance capabilities of the system were tested using Oceanserver's Iver2 and the MIT Scout kayaks.
doi:10.1007/978-3-642-13408-1_30 fatcat:3yoqa2obxbhj3by6qskct4x4ku