Erin M. Fischel

Closed-Loop Single-Beacon Passive Acoustic Navigation for Low-Cost Autonomous Underwater Vehicles

Accurate localization is critical for a robotic vehicle to navigate autonomously. Conventional autonomous underwater vehicles (AUV s) typically rely on an inertial navigation system (INS) aided by a Doppler velocity log (DVL) in order to reduce the rate of positional error growth of dead-reckoning t…