|Title||Robust Range-only Beacon Localization|
|Publication Type||Conference Paper|
|Year of Publication||2004|
|Authors||Olson E, Leonard JJ, Teller S|
|Conference Name||AUV 2004|
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 that imposes geometric constraints on the 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.