Broadband Acoustic Communication Aided Underwater Inertial Navigation System

We present an underwater localization system for medium-sized Autonomous Underwater Vehicles (AUVs) that leverages a broadband wireless acoustic communication GPS-denied localization. Many current systems assume single line-of-sight path and use either narrow-band signals or short-duration pings the convenience of mitigating motion-induced Doppler at expense time-of-arrival (TOA) accuracy operational flexibility. propose novel utilizes aggressive signal processing embedded in to resolve multi-path distortion finely estimate timing information using signals. Timing extracted from this process is then used biases drift inertial navigation (INS) Bayesian framework. To demonstrate feasibility model, co-simulations are created MACE10 experimental data. Our results show dramatic improvement accuracy, with error less than 120 m achieved over 3 $\sim$ 7 km distance range MACE 10 experiment between AUV remote beacon transmission interval 30 seconds.