ABSTRACT
This chapter addresses the navigation problem arising in underwater vehicles equipped with an acoustic modem, attitude and depth sensors, but lacking a Doppler velocity log, and a surface vehicle equipped with an acoustic modem and a global positioning system unit. It examines the feasibility of employing cooperative navigation with underwater acoustic networks to provide both position and velocity corrections for low-cost underwater vehicles not employing a Doppler sonar for velocity measurements. The chapter utilizes the centralized Extended Kalman Filter (CEKF), which assumes real-time access to vehicle and ship sensor data simultaneously. The range and range-rate observation models are nonlinear functions of the vehicle state at time of arrival and the ship state at time-of-launch. The chapter describes a numerical simulation to investigate the effect of the range-rate observation on the performance of the CEKF cooperative navigation algorithm.
