Abstract:

An underwater simultaneous localization and mapping （SLAM） navigation algorithm based on random beacons is studied. At present, beacon navigation is extensively studied in the field of navigation, but it often needs to locate the beacon’s positon in advance. In this paper, we propose a navigation method based on random beacons that does not need position calibration, that is, when beacons are randomly dispersed, we use the SLAM method to estimate the position of the random beacons, thus to navigate the autonomous underwater vehicle (AUV) by observing the distance and orientation between the beacons and the AUV. We also analyze the navigation accuracy under different beacons density and different observation errors. Simulation results show that the algorithm performs well in both convergence and precision.