Output details
15 - General Engineering
University of Sheffield
Geometric bounding techniques for underwater localization using range-only sensors
This work was motivated by the practical needs of underwater navigation systems at the National Oceanography Centre, Southampton. The paper solves a problem raised by Steve McPhail (sdm@noc.ac.uk) about the unreliability of some range-only navigation methods. The paper presents the only algorithmic solution available today which takes measurement errors of sonar beams into account and provides reliable accuracy bounds for AUV localisation. The algorithmic results are also applicable to other measurement systems with similar characteristics to sonar, such as RF or laser range measurements for vehicles in air and in space. It also led to winning an EPSRC grant (EP/J011894/2).