{"paper":{"title":"Estimation of Location and Orientation for Underwater Vehicles from Range Measurements","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"math.OC","authors_text":"Joao Sousa, Joao Teixeira, Jose Braga, Kaarthik Sundar, Sai Krishna Kanth Hari, Swaroop Darbha","submitted_at":"2018-08-09T15:34:02Z","abstract_excerpt":"Localization is an important required task for enabling vehicle autonomy for underwater vehicles. Localization entails the determination of position of the center of mass and orientation of a vehicle from the available measurements. In this paper, we focus on localization by using One-Way Travel Time (OWTT) measurements available to a vehicle from the communication of its multiple on-board receivers with acoustic beacons, more specifically, long baseline (LBL) beacons. Range can be inferred by multiplying the OWTT with speed of sound; however, water conditions can change spatially and temporal"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1808.03198","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}