Accurate Localization Of Auv In Motion By Explicit Solution Using Time Delays

Accurate localization of an autonomous underwater vehicle (AUV) is essential in many applications. The motion of an AUV during the measurement acquisition period can be significant and the localization performance can suffer considerably if it is neglected. A new time delay model that accounts for the motion is proposed for moving AUV localization. The non-recursive form of the proposed model is next derived. An algebraic explicit positioning solution based on the non-recursive model is developed when the measurement noise and transponder location errors are present. Simulation results illustrate the importance of accounting for AUV motion in localization, and validate the theoretical analysis that the proposed solution can reach the Cramer-Rao lower bound (CRLB) accuracy over the small error region under Gaussian noise.