Single Beacon-Based AUV Navigation: A Comparative Study of Kalman Filters

This paper compares the performance of two algorithms for the navigation of an Autonomous Underwater Vehicle (AUV) based on a single hydroacoustic beacon. The performance of two algorithms, the Extended Kalman Filter (EKF) and the Unscented Kalman Filter (UKF), is evaluated through numerical simulations in various scenarios to determine their accuracy in estimating the AUV’s position using velocity and range measurements. The results of this study provide insights into the strengths and limitations of these two algorithms in the context of AUV navigation.