Terrain Based Localization Method for Wreck Observation AUV

In this paper, we propose a wreck observation system using an AUV (Autonomous underwater vehicle) and introduce an AUV that we are developing for this system. Furthermore, we propose a terrain based localization method for the positioning of the AUV, which does not depend on external and costly help such as transponder based positioning systems. The proposed method is robust against altitude offset compared to conventional terrain based methods. The results of the simulation, performed using the data collected during a sea experiment, demonstrate the efficiency of the proposed method