Localizing Autonomous Underwater Vehicles: Experimental Evaluation of a Long Baseline Method

This work concerns underwater networking with mobile assets, like Autonomous Underwater Vehicles (AUVs), for advanced monitoring and exploration of submerged environments. Particularly, we are interested in enabling an AUV to localize itself while moving underwater by acoustically polling beacon nodes statically deployed at well-known location. Our method only relies on a model of the AUV dynamics...