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This paper reports the theoretical development and at‐sea field evaluation of a novel combined underwater acoustic communication and navigation system, known as cooperative acoustic navigation (CAN), for underwater vehicles (UVs) utilizing a second‐order dynamic plant model of the submerged UVs. The present state‐of‐the‐art in CAN is to utilize one‐way travel‐time acoustic modem telemetry together...
This paper reports a preliminary study of a method for combined underwater communication and navigation of underwater vehicles (cooperative navigation) equipped with an acoustic modem, attitude, and depth sensors, but lacking a Doppler velocity log (DVL), and a surface vehicle equipped with an acoustic modem and GPS. Few previously reported studies have utilized acoustic range rate in addition to...
This paper reports a preliminary feasibility study of a method for combined underwater communication and navigation of underwater vehicles (cooperative navigation) in which synchronous-clock modems are employed to measure both range and range rate on every acoustic data transmission. Few previously reported studies have utilized acoustic range rate in addition to acoustic range for the general navigation...
This paper reports a novel application of the extended Kalman filter (EKF) for the estimation of the full state of rigid-body underwater vehicles (UVs) without requiring access to velocity measurements. The theory is presented along with a preliminary experimental evaluation of the performance of the algorithm. The reported EKF employs measurements of vehicle position and orientation, the control...
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