Autonomous Underwater Vehicle Localization Using an Ocean Acoustic Tomographic Sensor

Ocean sampling using AUVs needs real-time current field information of the sampled environment. We investigate a technique using an AUV and a moored station to estimate the spatial current field. Tomographic sensors are carried on the AUV and the moored station. By planning an observable scanning path for the AUV, bounded position errors using range information with respect to the moored station are guaranteed. The AUV receives one-way-travel-times from the moored station to calculate ranges, and two-way-travel-times for estimating the current speeds. Experimental data collected in a bay are presented to demonstrate the feasibility of the technique.