On Simultaneous AUV Localization with Single Acoustic Beacon using Angles Measurements

To address the simultaneous AUV localization under the condition of single sonar beacon, we propose a bearing only measurements based approach for real-time AUV localization applications, assuming the depth of beacon is known as a prior. A state-space model considering AUV motion with 2-DOF attitude is derived using coordinates transformation, which bases the localization solution using an extended Kalman filter (EKF). The principle of filter selection for this application is analyzed in the prospective of real-world implementation and parameter tuning. The efficiency of proposed method is tested by simulations. The results suggest that our method is more robust and favorable in terms of filtering accuracy and convergence in comparison with distance measurements based methods.