Robust Range-Only Beacon Localization

IEEE Autonomous Underwater Vehicles (AUV '04), 2004

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Most Autonomous Underwater Vehicle (AUV) systems rely on prior knowledge of beacon locations for localization. We present a system capable of navigating without prior beacon locations. Noise and outliers are major issues; we present a powerful outlier rejection method that imposes geometric constraints on measurements. We have successfully applied our algorithm to real-world data and have demonstrated navigation performance comparable to that of systems that assume known beacon locations.

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    AUTHOR     = {Edwin Olson and John Leonard and Seth Teller},
    TITLE      = {Robust Range-Only Beacon Localization},
    BOOKTITLE  = {IEEE Autonomous Underwater Vehicles (AUV '04)},
    JOURNAL    = {AUV},
    MONTH      = {June},
    YEAR       = {2004},
    CITY       = {Sebasco Estates},
    STATE      = {ME},