Distributed Underwater Bearing-Only Multi-Sensor Acoustic Source Position-Velocity Estimation with Latency and Packet Loss

Multiple underwater moving sensors are deployed in order to estimate the position and velocity of an acoustic source based on bearing-only measurements. With the given constraints, the measurements are characterized by poor observability. Communication of the data with the other sensors is thus needed which, in turn, adds to the problem communication latency and packet loss. A solution based on the pseudo-linear formulation is proposed based on an iterative optimization for each measurement. Validation on numerical simulations based on realistic underwater communication validates the proposed approach.