A SURVEY OF UNDERWATER VEHICLE NAVIGATION: RECENT ADVANCES AND NEW CHALLENGES

Abstract: The paper surveys recent advances in underwater vehicle navigation and identifies future research challenges. Improvements in underwater navigation sensor technology and underwater navigation algorithms are enabling novel underwater vehicles and novel underwater vehicle missions. This paper first reviews advances in underwater navigation sensor technology. Second, advances in deterministic and stochastic underwater navigation methodologies and algorithms are reviewed. Finally, future challenges in underwater vehicle navigation are articulated, including near-bottom navigation, vehicle state estimation, optimal survey, environmental estimation, multiple-vehicle navigation, and mid-water navigation. Advances in vehicle navigation will enable new missions for underwater vehicle (commercial, scientific, and military) which were previously considered impractical or infeasible.

https://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.123.9809&rep=rep1&type=pdf