Modeling AUV Localization Error in a Long Baseline Acoustic Positioning System

This paper develops a linearized Bayesian inversion algorithm for high-precision localization of an autonomous underwater vehicle (AUV) on a test range using time difference of arrival acoustic data. The Bayesian approach allows the uncertainties of several factors, including precise receiver locati...

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Veröffentlicht in:	IEEE journal of oceanic engineering 2018-10, Vol.43 (4), p.955-968
Hauptverfasser:	Thomson, Dugald J. M., Dosso, Stan E., Barclay, David R.
Format:	Artikel
Sprache:	eng
Schlagworte:	Acoustic data Algorithm design and analysis Autonomous underwater vehicle (AUV) Autonomous underwater vehicles Bayes methods Bayesian analysis Bayesian inversion Computer simulation Data models Inversion Linearization Localization Locations (working) Mathematical models Modelling Monte Carlo simulation Nonlinear analysis Parameter estimation Parameters Positioning systems Probability theory Sonar equipment Statistical methods Uncertainty Underwater acoustics Underwater vehicles victoria experimental network under the sea (VENUS)
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