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Abstract <p>A comparative analysis has been performed for the algorithms correcting the navigation system data of an autonomous underwater vehicle (AUV) using the ranges to acoustic beacons in the case of their unfavorable location relative to the AUV. The paper studies a recursive iterative Kalman filter, an iterative batch linearized smoother, an algorithm based on their combined use, and an algorithm based on factor graph optimization methods.</p>

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Comparison of Recursive and Non-Recursive Bayesian Estimation Algorithms with Factor-Graph Optimization in Pinpoint-Based Navigation

  • 期刊论文

  • 发表日期：

    2025年12月1日

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  • V. V. Bogomolov,
  • V. G. Karaulov

摘要

Abstract

A comparative analysis has been performed for the algorithms correcting the navigation system data of an autonomous underwater vehicle (AUV) using the ranges to acoustic beacons in the case of their unfavorable location relative to the AUV. The paper studies a recursive iterative Kalman filter, an iterative batch linearized smoother, an algorithm based on their combined use, and an algorithm based on factor graph optimization methods.