Data fusion method for underwater object localization

Underwater small type robot has advantage with its small size, but the number and type of sensors needed to be designed carefully as its limited payload, including the method of object positioning. For the positioning of underwater target, proximate sensor is developed and the problem of data association in multi-sensors fusion is also discussed in the paper. Finally, the simulation tests show that the fusion method takes advantage of the complementary properties of the two sensors, and meets the requirements of underwater position on miniaturization, reliability and real-time.