Robust Range-only Beacon Localization

TitleRobust Range-only Beacon Localization
Publication TypeConference Paper
Year of Publication2004
AuthorsOlson E, Leonard JJ, Teller S
Conference NameAUV 2004
Abstract

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. 

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