ACOUSTIC TRACKING OF AUTONOMOUS UNDERWATER VEHICLES BY A SET-MEMBERSHIP APPROACH

Abstract An algorithm is presented for tracking of Autonomous Underwater Vehicles (AUVs) from acoustic time-of-flight measurements received by a field of surface floating buoys. The algorithm assumes that measurements and AUV dynamics uncertainties are unknown but bounded, with known bounds, and produces as output the set of admissible AUV positions. The algorithm has been validated by simulation in which uncertainty models have been obtained from field data at sea.