ASV-aided localization of UUV fleets using acoustic ranging, nonlinear estimation, and cooperative geometry. Field validation with low-cost scalable systems.
USV-UUV Collaborative Navigation
Surface vehicles provide GPS-referenced acoustic ranging to submerged UUVs, enabling real-time localization updates in GPS-denied environments.
Multi-UUV Collaborative Navigation
Multiple UUVs exchange acoustic range measurements to jointly estimate positions within a common reference frame, combining the operational flexibility of moving baseline systems with certifiably correct localization.