Cooperative decentralized navigation algorithms based on bearing measurements for arbitrary measurement topologies

• DOI: 10.1016/j.oceaneng.2022.113564
• Publication Date: 2023-01-10T22:43:37Z
• Authors: Pedro Mendes; Pedro Batista; Paulo Oliveira; Carlos Silvestre
• Keywords: 0209 industrial biotechnology; 02 engineering and technology

This work presents and compares several cooperative navigation solutions for formations of autonomous underwater vehicles, equipped with depth sensors capable taking bearing measurements to their neighbors under a certain measurement topology. Two approaches based on the extended Kalman filter are described, one centralized other decentralized, which has advantage requiring much less communication computational complexity minimal degradation produced estimates. Additionally, four implementations, systems linear dynamics using artificial measurements, also remaining ones decentralized. The performance these algorithms, both acyclical cyclical topologies, is compared Monte Carlo simulations, whereby mean error root-mean-squared-error (RMSE) computed estimates presented.