Robust Underwater Vehicle Pose Estimation via Convex Optimization Using Range-Only Remote Sensing Data

Robust Underwater Vehicle Pose Estimation via Convex Optimization Using Range-Only Remote Sensing Data

Accurate localization plays a critical role in enabling underwater vehicle autonomy. In this work, we develop a robust infrastructure-based localization framework that estimates the position and orientation of underwater vehicles using only range measurements from long baseline (LBL) acoustic beacon...

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Bibliographic Details
Main Authors: Sai Krishna Kanth Hari, Kaarthik Sundar, José Braga, João Teixeira, Swaroop Darbha, João Sousa
Format: Article
Language:English
Published: MDPI AG 2025-07-01
Series:Remote Sensing
Subjects:
Autonomous Underwater Vehicles
infrastructure-based localization
acoustic beacons
orientation estimation
semi definite programming
online re-calibration
Online Access:https://www.mdpi.com/2072-4292/17/15/2637
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