Sum of Gaussian based SLAM using Angle of Arrival of Acoustic Sources for AUV Navigation

Abstract

This paper presents a method of localization for underwater vehicles using acoustic signal. Artificial underwater acoustic sources are used as landmarks in underwater environment. The proposed underwater localization is performed by fusing dead-reckoning sensors and angle of arrival information of acoustic sources. Sum of gaussian based SLAM is used to localize both vehicle and acoustic sources. Experimental results demonstrate the performance of the proposed underwater localization method in an inland water environment.