Underwater AUV localization with refraction consideration: WiP abstract

Localization is one of the fundamental tasks of Autonomous unmanned Vehicles (AuV) navigation systems [1]. In open space, Global Position System (GPS) can serve the localization need well. However, GPS is not always available in underwater environments due to high electromagnetic (EM) attenuation [2]. As a result, acoustic localization is more practical in the long range underwater context. Meanwhile, due to the wide availability of simple microphones and onboard clocks, Time of Arrival (ToA) based acoustic underwater localization algorithms is prevailing. Hence we shall focus on ToA based underwater acoustic localization.