Bearing Only Localization for Multiple AUV with Acoustic Broadcast Communication

This paper presents the method and characteristic of bearing only localization applying for multiple low-cost autonomous underwater vehicles (AUVs). In the proposed method, each AUV equips sensors which are not always accurate enough to estimate position. The method estimates the positions of the AUVs combining the information of the directions from the AUVs to the acoustic source and sensor values on the AUVs. This paper analyzed the capability of this method using the mathematical model of the system with observability rank condition. The result indicates the system has observability as far as the AUV does not move directly from or to the acoustic source. The position of the AUVs was also estimated using the particle filter. The method succeeded in the particles from diverging. We also observed that the accuracy of the estimation depends on the relative position of the acoustic source from the AUV.