AUV-based plume tracking: A simulation study

This paper presents a simulation study of an autonomous underwater vehicle (auv) navigation system operating in a gps-denied environment. the auv navigation method makes use of underwater transponder positioning and requires only one transponder. a multirate unscented kalman filter is used to determine the auv orientation and position by fusing high-rate sensor data and low-rate information. the paper also proposes a gradient-based,efficient,and adaptive novel algorithm for plume boundary tracking missions. the algorithm follows a centralized approach and it includes path optimization features based on gradient information. the proposed algorithm is implemented in simulation on the auv-based navigation system and successful boundary tracking results are obtained. © 2016 awantha jayasiri et al.