Abstract
The localization of autonomous underwater vehicles (AUVs) has been a difficult yet fundamental issue in many applications. The traditional way to localize an AUV is based on dead-reckoning (DR) using the measurements from inertial measurement units (IMUs). However, the accuracy of DR cannot be guaranteed for a long period. With the development of underwater communications and ranging, recent AUVs can localize themselves by sharing position information with anchors (whose positions are known). Occasionally, we have to localize an AUV in anchor-free environments. Without reference positions, localization could be challenging. Recently, multiple-AUV (multi-AUV) simultaneous navigation is becoming a prevalent trend and cooperative localization becomes a new way to improve the localization accuracy. In this paper, aiming at anchor-free scenarios, we propose a novel cooperative localization algorithm using belief propagation (BP), called belief propagation based dead-reckoning (BPDR). Meanwhile, to reduce the communication overhead among AUVs, intermittent BPDR (IBPDR) algorithm is designed. The simulations show satisfactory performance in localization by both BPDR and IBPDR.
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