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Underwater navigation that relies solely on dead reckoning (DR) suffers from unbounded position error growth. A common approach for alleviating the problem is to have the underwater vehicle surface occasionally for a Global Positioning System (GPS) fix, at the risk of jeopardizing the vehicle's safety and consuming precious mission time. Other alternatives include deploying a long-baseline (LBL) acoustic...
Autonomous underwater vehicles (AUVs) that rely on dead reckoning suffer from unbounded localization error growth at a rate dependent on the quality (and cost) of the navigational sensors. Many AUVs surface occasionally to get a GPS position update. Alternatively underwater acoustic beacons such as long baseline (LBL) arrays are used for localization, at the cost of substantial deployment effort....
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