An Architecture for Cooperative Localization Underwater Acoustic Networkds

TitleAn Architecture for Cooperative Localization Underwater Acoustic Networkds
Publication TypeReport
Year of Publication2015
AuthorsWalls JM, Eustice RM
Pagination1-5
TypeDissertation
KeywordsROBOTICS
Abstract

This paper outlines an architecture for underwater acoustic cooperative localization. Our system leverages communication within an acoustic network to both share navigation information and measure the relative range between vehicles. We employ a factor graph framework for vehicle position estimation. The underlying structure of the factor graph formulation provides a low-bandwidth estimation framework that is tolerant to communication dropout. We detail the hardware and software used to implement a three vehicle cooperative network and provide a performance summary over several field trials.