The AUV positioning using ranges from one transponder LBL

An autonomous underwater vehicle (AUV) positioning method using the range data from one transponder of a long base line acoustic positioning system and the yaw and relative velocity information from an on board autonomous navigation system is described in the paper. The localization algorithm is based on the least squares root method. The algorithm allows one to calculate the AUV position and current velocity estimations. The simulation results of the method are supplemented.