Distributed Underwater Bearing-Only Multi-Sensor Acoustic Source Position-Velocity Estimation with Latency and Packet Loss

Multiple underwater moving sensors are deployed in order to estimate the position and velocity of an acoustic source based on bearing-only measurements. With the given constraints, the measurements are characterized by poor observability . Communication of the data with the other sensors is thus needed which, in turn, adds to the problem communication latency and packet loss. A solution based on the pseudo-linear formulation is proposed based on an iterative optimization for each measurement. Validation on numerical simulations based on realistic underwater communication validates the proposed approach.