Data-Driven Underwater Navigation workshop: AUV Close-Range Localization and Guidance Employing an Electro-Magnetic Beacon

AUV’s navigation is primarily based on acoustic sensors (e.g. sonars) and inertial navigation systems (INS). However, acoustic sensors provide a relatively low resolution and slow update rate images while INS systems suffer from drift and noise. Consequently, those sensors are insufficient to support tasks that require precise navigation and localization, such as autonomous intervention and docking. Electromagnetic (EM)-based navigation offers accurate navigation and localization at high rates; it is not affected by poor visibility, nor does it require line-of-sight between the sensor and the reference point. This study proposes a method for precise close-range localization of an AUV by employing a beacon and an onboard magnetometer. The localization solution was optimized by deep-learning method.