Robust Range-Only Beacon Localization

IEEE Journal of Oceanic Engineering, 2006

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We present a system capable of simultaneously estimating the position of an Autonomous Underwater Vehicle (AUV) and the positions of stationary range-only beacons. Notably, our system does not require beacon positions a priori, and our system performs well even when range measurements are severely degraded by noise and outliers. We present a powerful outlier rejection method that can identify groups of range measurements that are consistent with each other, and a method for initializing beacon positions in an EKF. We have successfully applied our algorithms to real-world data and have demonstrated a SLAM system whose navigation performance is comparable to that of systems that assume known beacon locations.


ROBL Initialization
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Movie 5.9 MB


    AUTHOR     = {Edwin Olson and John Leonard and Seth Teller},
    TITLE      = {Robust Range-Only Beacon Localization},
    JOURNAL    = {IEEE Journal of Oceanic Engineering},
    VOLUME     = {31},
    NUMBER     = {4},
    PAGES      = {949-958},
    MONTH      = {October},
    YEAR       = {2006},