Moving baseline localization for multi-vehicle maritime operations

Jonatan Scharff Willners, Pedro Patron, Yvan R. Pettilot

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


Development in autonomous systems in recent years have enabled an increase on multi-vehicle maritime operations. Air, surface and underwater vehicles are now able to cooperate to jointly accomplish the objectives of a shared mission plan. In multi-vehicle scenarios, knowing accurately the platforms position is of great importance. If the navigation error is not controlled, unexpected and undesirable events such as collisions, less reliable data or loss of platforms can occur. In environments where Global Positioning System (GPS) is denied, such as underwater, updating the global position for the platform is difficult and often requires taking specific actions which are not part of the original mission. In the underwater domain, this typically means getting a GPS fix on the surface. Breaching the surface is a time consuming and potentially dangerous or unfeasible task. In this paper a framework striving to reduce or even completely remove the need for an Autonomous Underwater Vehicle (AUV) to surface for GPS fix is described. The framework proposed is decentralized and opportunistic. It is based on a moving long-baseline with OneWay-Travel-Time (OWTT) for range measurements and provides the capability to synchronize clocks between different platforms.

Original languageEnglish
Title of host publicationOCEANS 2017 - Aberdeen
ISBN (Electronic)9781509052783
Publication statusPublished - 25 Oct 2017
EventOCEANS 2017 - Aberdeen - Aberdeen, United Kingdom
Duration: 19 Jun 201722 Jun 2017


ConferenceOCEANS 2017 - Aberdeen
Country/TerritoryUnited Kingdom
Internet address


  • clock synchronization
  • Localization
  • marine robotics
  • moving long-baseline
  • multi-vehicle

ASJC Scopus subject areas

  • Instrumentation
  • Computer Networks and Communications
  • Oceanography
  • Acoustics and Ultrasonics
  • Automotive Engineering


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