Cooperative localization of AUVs using moving horizon estimation

@article{Wang2014CooperativeLO,
  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},
  year={2014},
  volume={1},
  pages={68-76}
}
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
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