Robust and efficient singular-value decomposition based algorithm for AUV localization and synchronization

• Main Author: Abeysekera, Saman S.
• Other Authors: School of Electrical and Electronic Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2013
• Subjects: DRNTU::Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/84745; http://hdl.handle.net/10220/12332
• Institution: Nanyang Technological University

This paper proposes a novel singular-value decomposition based algorithm that can be used in source localization and time synchronization using the time of arrival and/or the time difference of arrival measurements. The algorithm performance has been investigated in an autonomous underwater vehicle operating environment. Through extensive simulations the superiority of the algorithm has been demonstrated over the existing methods. It is shown that the proposed algorithm is robust in terms of matrix ill-conditioning and efficient in terms of achieving the Cramer-Rao lower bound for parameter estimation.