Range-Only SLAM for Underwater Navigation System with Uncertain Beacons

As a high-precision navigation method for autonomous underwater vehicle (AUV), beacon-aided navigation system is widely concerned. In this system, the accurate positions of the beacons are the key to ensure the navigation accuracy. In this paper, we propose a range-only simultaneous localization and mapping (SLAM) method for underwater positioning system with uncertain positions of the beacons. First, the kinematic model of AUV and the range-only measurement model are established. Then, according to these two models, we present a SLAM framework for beacon-aided navigation system. Further, an EKF-SLAM algorithm is introduced to simultaneously estimate the positions of AUV and beacons. Finally, simulation results verifies the effectiveness of this algorithm.