Cooperative localization of AUVs using moving horizon estimation

  title={Cooperative localization of AUVs using moving horizon estimation},
  author={Sen Wang and Ling Chen and Dongbing Gu and Huosheng Hu},
  journal={IEEE/CAA Journal of Automatica Sinica},
This paper studies the localization problem of autonomous underwater vehicles (AUVs) constrained by limited size, power and payload. Such AUVs cannot be equipped with heavy sensors which makes their underwater localization problem difficult. The proposed cooperative localization algorithm is performed by using a single surface mobile beacon which provides range measurement to bound the localization error. The main contribution of this paper is twofold: 1) The observability of single beacon… Expand
Single beacon based multi-robot cooperative localization using Moving Horizon Estimation
A novel approach based on Moving Horizon Estimation (MHE) is proposed for three-dimensional multi-robot Cooperative Localization (CL) problem, which can bound localization error, impose various constraints on states and noises, and make use of previous range measurements for current estimation. Expand
Non Linear Tracking Using Unscented Kalman Filter
The use of unscented Kalman filter (UKF) is proposed along with the DR to get accurate localization information and the results show that the proposed method is able to track the desired path with least error when compared to DR used alone. Expand
Precise localization for achieving next-generation autonomous navigation: State-of-the-art, taxonomy and future prospects
  • R. Shit
  • Computer Science
  • Comput. Commun.
  • 2020
The effect of precise and accurate localization for autonomous navigation technologies is extensively studied and the problems and limitations of the related algorithms are analyzed. Expand
Robust Student’s $t$ -Based Cooperative Navigation for Autonomous Underwater Vehicles
A robust leader–slave cooperative navigation (CN) algorithm for autonomous underwater vehicles (AUVs) based on the Student’s extended Kalman filter (SEKF) is proposed, which shows an improved robustness against outliers existing in the process and measurement noises. Expand
Privacy preserving solution for the asynchronous localization of underwater sensor networks
Simulation and experiment results reveal that the proposed localization approach can avoid the leakage of position information, while the location accuracy can be significantly enhanced as compared with the other works. Expand
INS/CNS Integrated Navigation Method for Circular Orbiting Satellite
A new INS/CNS integrated navigation method, which is composed of a tightly coupled integrated navigation system and an altitude-computed mode, is proposed for circular orbiting satellites, which can effectively correct the attitude, latitude, and longitude errors, and provide the altitude information as well. Expand
Set-Membership Filtering Subject to Impulsive Measurement Outliers: A Recursive Algorithm
The ultimate boundedness issue on the time-varying ellipsoidal region is thoroughly investigated and a simulation example is provided to demonstrate the effectiveness of the proposed parameter-dependent set-membership filtering strategy. Expand


Cooperative localization of marine vehicles using nonlinear state estimation
This paper analyzes the observability properties of the cooperative ASV/AUV localization problem and demonstrates that this cooperative localization problem is best attacked using nonlinear least squares (NLS) optimization. Expand
Precise navigation of autonomous underwater vehicles (AUV) is one of the most important challenges in the realization of distributed and cooperative algorithms for marine applications. We investigateExpand
Cooperative AUV Navigation using a Single Maneuvering Surface Craft
This paper investigates an alternative approach that utilizes the position information of a surface vehicle to bound the error and uncertainty of the on-board position estimates of a low-cost AUV. Expand
Towards autonomous localization and mapping of AUVs: a survey
Purpose – The main purpose of this paper is to investigate two key elements of localization and mapping of Autonomous Underwater Vehicle (AUV), i.e. to overview various sensors and algorithms usedExpand
Observability analysis of relative localization for AUVs based on ranging and depth measurements
The paper studies the observability properties of the relative localization of two Autonomous Underwater Vehicles (AUVs) equipped with depth sensors, linear/angular velocity sensors, andExpand
Underwater Localization and Environment Mapping Using Wireless Robots
This paper presents a novel approach to localization and mapping of a school of wirelessly connected underwater robotic fish (URF) based on both Cooperative Localization Particle Filter (CLPF) scheme and Occupancy Grid Mapping Algorithm (OGMA). Expand
Designing behaviors to improve observability for relative localization of AUVs
This paper investigates how the vehicles' movements can be commanded in order to help the relative localization by a proper analysis of the system observability and a corresponding proper definition of the vehicles movements; critical situations for the relative observability are avoided. Expand
Observability-based consistent EKF estimators for multi-robot cooperative localization
This paper analytically shows that the standard EKF-based CL always has an observable subspace of higher dimension than that of the actual nonlinear CL system, and proposes two novel observability-constrained (OC)-EKF estimators that are instances of this paradigm. Expand
Underwater navigation in the presence of unknown currents based on range measurements from a single location
  • A. Gadre, D. Stilwell
  • Computer Science
  • Proceedings of the 2005, American Control Conference, 2005.
  • 2005
An underwater navigation algorithm is considered that enables an underwater vehicle to compute its trajectory in the presence of unknown currents by utilizing range measurements from a single known location and characterize those trajectories that cannot be asymptotically estimated. Expand
Advances in single-beacon one-way-travel-time acoustic navigation for underwater vehicles
This paper reports the formulation and evaluation of a centralized extended Kalman filter designed for a novel navigation system for underwater vehicles. The navigation system employs Doppler sonar,Expand