Maximum a posteriori estimation for AUV localization with USBL measurements
Due to the limitations of electromagnetic signals, underwater scenarios increase the
complexity of developing accurate navigation systems. In the last decades, Ultra-Short
BaseLine (USBL) positioning systems have been widely and efficiently used for
Autonomous Underwater Vehicles (AUVs) localization, endorsing to be a suitable solution to
limit the navigation drift without requiring periodic surfacing for Global Positioning System
(GPS) resets. Typically, in the localization context, USBL measurements are exploited as …
complexity of developing accurate navigation systems. In the last decades, Ultra-Short
BaseLine (USBL) positioning systems have been widely and efficiently used for
Autonomous Underwater Vehicles (AUVs) localization, endorsing to be a suitable solution to
limit the navigation drift without requiring periodic surfacing for Global Positioning System
(GPS) resets. Typically, in the localization context, USBL measurements are exploited as …
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