{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T09:51:05Z","timestamp":1775037065319,"version":"3.50.1"},"reference-count":54,"publisher":"Springer Science and Business Media LLC","issue":"7","license":[{"start":{"date-parts":[[2016,2,11]],"date-time":"2016-02-11T00:00:00Z","timestamp":1455148800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2016,10]]},"DOI":"10.1007\/s10514-016-9547-3","type":"journal-article","created":{"date-parts":[[2016,2,11]],"date-time":"2016-02-11T21:43:43Z","timestamp":1455227023000},"page":"1207-1227","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":41,"title":["Mid-water current aided localization for autonomous underwater vehicles"],"prefix":"10.1007","volume":"40","author":[{"given":"Lashika","family":"Medagoda","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stefan B.","family":"Williams","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Oscar","family":"Pizarro","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"James C.","family":"Kinsey","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michael V.","family":"Jakuba","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2016,2,11]]},"reference":[{"key":"9547_CR1","unstructured":"Atkinson, C. (2008). Analysis of shipboard ADCP data from RRS Discovery Cruise D324: RAPID Array Eastern Boundary. Technical report: National Oceanography Centre Southampton."},{"key":"9547_CR2","first-page":"378","volume":"2","author":"N Brokloff","year":"1994","unstructured":"Brokloff, N. (1994). Matrix algorithm for Doppler sonar navigation. Brest, France, 2, 378\u201383.","journal-title":"Brest, France"},{"key":"9547_CR3","doi-asserted-by":"crossref","unstructured":"Brokloff, N. (1997). Dead reckoning with an ADCP and current extrapolation. In OCEANS 1997. MTS\/IEEE conference proceedings (vol\u00a02, pp. 994\u20131000)","DOI":"10.1109\/OCEANS.1997.624203"},{"issue":"4","key":"9547_CR4","doi-asserted-by":"crossref","first-page":"402","DOI":"10.1109\/48.90905","volume":"16","author":"BH Brumley","year":"1991","unstructured":"Brumley, B. H., Cabrera, R. G., Deines, K. L., & Terray, E. A. (1991). Performance of a broad-band acoustic Doppler current profiler. IEEE Journal of Oceanic Engineering, 16(4), 402\u2013407.","journal-title":"IEEE Journal of Oceanic Engineering"},{"issue":"6001","key":"9547_CR5","doi-asserted-by":"crossref","first-page":"201","DOI":"10.1126\/science.1195223","volume":"330","author":"R Camilli","year":"2010","unstructured":"Camilli, R., Reddy, C., Yoerger, D., Van Mooy, B., Jakuba, M., Kinsey, J., et al. (2010). Tracking hydrocarbon plume transport and biodegradation at Deepwater Horizon. Science, 330(6001), 201\u2013204.","journal-title":"Science"},{"issue":"7","key":"9547_CR6","doi-asserted-by":"publisher","first-page":"483","DOI":"10.1038\/ngeo1496","volume":"5","author":"DW Caress","year":"2012","unstructured":"Caress, D. W., Clague, D. A., Paduan, J. B., Martin, J. F., Dreyer, B. M., Chadwick, W. W, Jr., et al. (2012). Repeat bathymetric surveys at 1-metre resolution of lava flows erupted at Axial Seamount in April 2011. Nature Geoscience, 5(7), 483\u2013488. doi: 10.1038\/ngeo1496 .","journal-title":"Nature Geoscience"},{"key":"9547_CR7","doi-asserted-by":"crossref","unstructured":"Crees, T., Kaminski, C., Ferguson, J., Laframboise, J., Forrest, A., Williams, J., MacNeil, E., Hopkin, D., & Pederson, R. (2010). UNCLOS under ice survey\u2014A historic AUV deployment in the Canadian high Arctic. In: IEEE\/MTS Oceans (pp. 1\u20138)","DOI":"10.1109\/OCEANS.2010.5664438"},{"key":"9547_CR8","unstructured":"Flenniken,\u00a0I. V. W. (2005). Modeling inertial measurement units and analyzing the effect of their errors in navigation applications. Masters Thesis, Auburn University."},{"key":"9547_CR9","volume-title":"Guidance and control of ocean vehicles","author":"T Fossen","year":"1994","unstructured":"Fossen, T. (1994). Guidance and control of ocean vehicles. New York: Wiley."},{"key":"9547_CR10","doi-asserted-by":"crossref","unstructured":"Furlong, M. E., Paxton, D., Stevenson, P., Pebody, M., McPhail, S. D., & Perrett, J. (2012). Autosub long range: A long range deep diving AUV for ocean monitoring. In Autonomous underwater vehicles (AUV), 2012 IEEE\/OES (pp. 1\u20137).","DOI":"10.1109\/AUV.2012.6380737"},{"key":"9547_CR11","doi-asserted-by":"publisher","unstructured":"German, C., Yoerger, D., Jakuba, M., Shank, T., Langmuir, C., & Nakamura, K. (2008). Hydrothermal exploration with the autonomous Benthic explorer. In Deep-sea research part I-oceanographic research papers (vol. 55(2), pp. 203\u2013219). doi: 10.1016\/j.dsr.2007.11.004 .","DOI":"10.1016\/j.dsr.2007.11.004"},{"key":"9547_CR12","volume-title":"Principles of operation a practical primer","author":"R Gordon","year":"1996","unstructured":"Gordon, R. (1996). Principles of operation a practical primer. San Diego: RD Instruments."},{"issue":"4","key":"9547_CR13","doi-asserted-by":"crossref","first-page":"354","DOI":"10.1109\/48.468252","volume":"20","author":"A Healey","year":"1995","unstructured":"Healey, A., Rock, S., Cody, S., Miles, D., & Brown, J. (1995). Toward an improved understanding of thruster dynamics for underwater vehicles. IEEE Journal of Oceanic Engineering, 20(4), 354\u2013361.","journal-title":"IEEE Journal of Oceanic Engineering"},{"key":"9547_CR14","doi-asserted-by":"publisher","unstructured":"Hegrenaes, O., & Berglund, E. (2009). Doppler water-track aided inertial navigation for autonomous underwater vehicle. In OCEANS 2009-EUROPE, 2009. OCEANS\u201909 (pp. 1\u2013100). doi: 10.1109\/OCEANSE.2009.5278307 .","DOI":"10.1109\/OCEANSE.2009.5278307"},{"issue":"2","key":"9547_CR15","doi-asserted-by":"crossref","first-page":"316","DOI":"10.1109\/JOE.2010.2100470","volume":"36","author":"O Hegrenaes","year":"2011","unstructured":"Hegrenaes, O., & Hallingstad, O. (2011). Model-aided INS with sea current estimation for robust underwater navigation. IEEE Journal of Oceanic Engineering, 36(2), 316\u2013337.","journal-title":"IEEE Journal of Oceanic Engineering"},{"key":"9547_CR16","doi-asserted-by":"crossref","unstructured":"Hobson, B. W., Bellingham, J. G., Kieft, B., McEwen, R., Godin, M., & Zhang, Y. (2012). Tethys-class long range AUVs\u2014extending the endurance of propeller-driven cruising AUVs from days to weeks. In 2012 IEEE\/OES autonomous underwater vehicles (AUV) (pp. 1\u20138).","DOI":"10.1109\/AUV.2012.6380735"},{"key":"9547_CR17","doi-asserted-by":"crossref","unstructured":"Hunt, M. M., Marquet, W. M., Moller, D. A., Peal, K. R., Smith, W. K., & Spindell, R. C. (1974). An acoustic navigation system. Technical report WHOI-74-6, Woods Hole Oceanographic Institution, Woods Hole, MA.","DOI":"10.1575\/1912\/2117"},{"key":"9547_CR18","unstructured":"iXSea (Accessed 22\u201303-2012) PHINS brochure."},{"key":"9547_CR19","doi-asserted-by":"crossref","unstructured":"Kaess, M., Johannsson, H., Roberts, R., Ila, V., Leonard, J., & Dellaert, F. (2011). isam2: Incremental smoothing and mapping with fluid relinearization and incremental variable reordering. In IEEE international conference on robotics and automation, IEEE (pp. 3281\u20133288).","DOI":"10.1109\/ICRA.2011.5979641"},{"issue":"5714","key":"9547_CR20","doi-asserted-by":"crossref","first-page":"1428","DOI":"10.1126\/science.1102556","volume":"307","author":"DS Kelley","year":"2005","unstructured":"Kelley, D. S., Karson, J. A., Fr\u00fch-Green, G. L., Yoerger, D. R., Shank, T. M., Butterfield, D. A., et al. (2005). A serpentinite-hosted ecosystem: The Lost City hydrothermal field. Science, 307(5714), 1428\u20131434.","journal-title":"Science"},{"issue":"12","key":"9547_CR21","doi-asserted-by":"crossref","first-page":"1541","DOI":"10.1016\/j.conengprac.2003.12.010","volume":"12","author":"JC Kinsey","year":"2004","unstructured":"Kinsey, J. C., & Whitcomb, L. L. (2004). Preliminary field experience with the DVLNAV integrated navigation system for oceanographic submersibles. Control Engineering Practice, 12(12), 1541\u20131548. invited Paper.","journal-title":"Control Engineering Practice"},{"key":"9547_CR22","unstructured":"Kinsey, J. C., Eustice, R. M., & Whitcomb, L. L. (2006). A survey of underwater vehicle navigation: Recent advances and new challenges. In IFAC conference of manoeuvering and control of marine craft"},{"key":"9547_CR23","doi-asserted-by":"crossref","unstructured":"Kinsey, J. C., Yoerger, D. R., Jakuba, M. V., Camilli, R., Fisher, C. R., & German, C. R. (2011). Assessing the deepwater Horizon oil spill with the Sentry autonomous underwater vehicle. In IEEE\/RSJ international conference on intelligent robots and systems (IROS), 2011, IEEE (pp. 261\u2013267).","DOI":"10.1109\/IROS.2011.6095008"},{"key":"9547_CR24","first-page":"1","volume":"99","author":"JC Kinsey","year":"2014","unstructured":"Kinsey, J. C., Yang, Q., & Howland, J. C. (2014). Nonlinear dynamic model-based state estimators for underwater navigation of remotely operated vehicles. IEEE Transactions on Control Systems Technology, 99, 1\u20131.","journal-title":"IEEE Transactions on Control Systems Technology"},{"key":"9547_CR25","unstructured":"Lupton, T. (2010). Inertial slam with delayed initialisation. PhD Thesis, University of Sydney."},{"key":"9547_CR26","doi-asserted-by":"publisher","unstructured":"Lupton, T., & Sukkarieh, S. (2009). Efficient integration of inertial observations into visual SLAM without initialization. In IEEE\/RSJ international conference on intelligent robots and systems (pp. 1547\u20131552). doi: 10.1109\/IROS.2009.5354267 .","DOI":"10.1109\/IROS.2009.5354267"},{"issue":"5","key":"9547_CR27","doi-asserted-by":"publisher","first-page":"1002","DOI":"10.1109\/TRO.2008.2004888","volume":"24","author":"I Mahon","year":"2008","unstructured":"Mahon, I., Williams, S., Pizarro, O., & Johnson-Roberson, M. (2008). Efficient view-based SLAM using visual loop closures. IEEE Transactions on Robotics, 24(5), 1002\u20131014. doi: 10.1109\/TRO.2008.2004888 .","journal-title":"IEEE Transactions on Robotics"},{"key":"9547_CR28","doi-asserted-by":"crossref","unstructured":"Martin, S., & Whitcomb, L. (2008). Preliminary results in experimental identification of 3-dof coupled dynamical plant for underwater vehicles. In OCEANS 2008, IEEE (pp. 1\u20139).","DOI":"10.1109\/OCEANS.2008.5152015"},{"issue":"4","key":"9547_CR29","doi-asserted-by":"crossref","first-page":"669","DOI":"10.1109\/JOE.2009.2030223","volume":"34","author":"SD McPhail","year":"2009","unstructured":"McPhail, S. D., & Pebody, M. (2009). Range-only positioning of a deep-diving autonomous underwater vehicle from a surface ship. IEEE Journal of Oceanic Engineering, 34(4), 669\u2013677.","journal-title":"IEEE Journal of Oceanic Engineering"},{"key":"9547_CR30","doi-asserted-by":"crossref","unstructured":"Medagoda, L., Jakuba, M. V., Pizarro, P., & Williams, W. (2010). Water column current profile aided localisation for autonomous underwater vehicles. In OCEANS 2010. Sydney: IEEE.","DOI":"10.1109\/OCEANSSYD.2010.5604016"},{"key":"9547_CR31","doi-asserted-by":"crossref","unstructured":"Medagoda, L., Williams, S. B., Pizarro , O., & Jakuba, M. V. (2011). Water column current profile aided localisation combined with view-based SLAM for autonomous underwater vehicles. In International conference on robotics and automation 2011, IEEE, Shanghai.","DOI":"10.1109\/ICRA.2011.5980141"},{"key":"9547_CR32","unstructured":"Medagoda, L., Eilders, M., & Kinsey, J. (2015). Autonomous underwater vehicle navigation in a spatiotemporally varying water current field. In IEEE international conference on robotics and automation (pp. 565\u2013572)."},{"key":"9547_CR33","unstructured":"Napolitano, F. (2004). PHINS: THE AUTONOMOUS NAVIGATION SOLUTION. Sea Technology"},{"key":"9547_CR34","doi-asserted-by":"publisher","unstructured":"Nicholls, K., Abrahamsen, E., Buck, J., Dodd, P., Goldblatt, C., Griffiths, G., et al. (2006). Measurements beneath an Antarctic ice shelf using an autonomous underwater vehicle. Geophysical Research Letters, 33(8), doi: 10.1029\/2006GL025998 .","DOI":"10.1029\/2006GL025998"},{"key":"9547_CR35","doi-asserted-by":"crossref","unstructured":"Paull, L., Saeedi, S., Seto, M., & Li, H. (2014). AUV navigation and localization: A review. IEEE Journal of Oceanic Engineering","DOI":"10.1109\/JOE.2013.2278891"},{"key":"9547_CR36","doi-asserted-by":"publisher","first-page":"1721","DOI":"10.1109\/OCEANS.1998.726382","volume":"3","author":"JP Peyronnet","year":"1998","unstructured":"Peyronnet, J. P., Person, R., & Rybicki, F. (1998). POSIDONIA 6000\u2014a new long range highly accurate ultra short base line positioning system. Nice, France, 3, 1721\u20131727. doi: 10.1109\/OCEANS.1998.726382 .","journal-title":"Nice, France"},{"issue":"5985","key":"9547_CR37","doi-asserted-by":"crossref","first-page":"1520","DOI":"10.1126\/science.1185779","volume":"328","author":"O Schofield","year":"2010","unstructured":"Schofield, O., Ducklow, H. W., Martinson, D. G., Meredith, M. P., Moline, M. A., & Fraser, W. R. (2010). How do polar marine ecosystems respond to rapid climate change? Science, 328(5985), 1520\u20131523.","journal-title":"Science"},{"key":"9547_CR38","doi-asserted-by":"crossref","unstructured":"Shih, H., Payton, C., Sprenke, J., & Mero, T. (2000). Towing basin speed calibration of acoustic Doppler current profiling instruments. In Joint conference on water resources engineering and water resources planning and management, American Society of Civil Engineers.","DOI":"10.1061\/40517(2000)317"},{"issue":"1","key":"9547_CR39","doi-asserted-by":"crossref","first-page":"25","DOI":"10.1023\/B:SSTA.0000018445.25977.f3","volume":"5","author":"H Singh","year":"2004","unstructured":"Singh, H., Armstrong, R., Gilbes, F., Eustice, R., Roman, C., Pizarro, O., et al. (2004a). Imaging coral I: Imaging coral habitats with the seabed AUV. Subsurface Sensing Technologies and Applications, 5(1), 25\u201342.","journal-title":"Subsurface Sensing Technologies and Applications"},{"issue":"31","key":"9547_CR40","doi-asserted-by":"crossref","first-page":"289","DOI":"10.1029\/2004EO310002","volume":"85","author":"H Singh","year":"2004","unstructured":"Singh, H., Can, A., Eustice, R., Lerner, S., McPhee, N., Pizarro, O., et al. (2004b). Seabed AUV offers new platform for high-resolution imaging. EOS Transactions of the AGU, 85(31), 289\u2013294.","journal-title":"EOS Transactions of the AGU"},{"issue":"4","key":"9547_CR41","doi-asserted-by":"crossref","first-page":"261","DOI":"10.1007\/s10291-007-0083-7","volume":"12","author":"B Soon","year":"2008","unstructured":"Soon, B., Scheding, S., Lee, H., Lee, H., & Durrant-Whyte, H. (2008). An approach to aid INS using time-differenced GPS carrier phase (TDCP) measurements. Gps Solutions, 12(4), 261\u2013271.","journal-title":"Gps Solutions"},{"key":"9547_CR42","doi-asserted-by":"crossref","unstructured":"Stanway, M. (2011). Dead reckoning through the water column with an acoustic Doppler current profiler: Field experiences. In OCEANS 2011, IEEE (pp. 1\u20138).","DOI":"10.23919\/OCEANS.2011.6107136"},{"key":"9547_CR43","doi-asserted-by":"crossref","unstructured":"Stanway, M. (2012). Contributions to automated realtime underwater navigation. PhD Thesis, Massachusetts Institute of Technology.","DOI":"10.1575\/1912\/5095"},{"key":"9547_CR44","doi-asserted-by":"crossref","DOI":"10.1049\/PBRA017E","volume-title":"Strapdown inertial navigation technology","author":"D Titterton","year":"2004","unstructured":"Titterton, D., & Weston, J. (2004). Strapdown inertial navigation technology. London: Peter Peregrinus Ltd."},{"issue":"6","key":"9547_CR45","doi-asserted-by":"crossref","first-page":"805","DOI":"10.1029\/98GL00442","volume":"25","author":"MA Tivey","year":"1998","unstructured":"Tivey, M. A., Johnson, H. P., Bradley, A. M., & Yoerger, D. R. (1998). Thickness of a submarine lava flow determined from near-bottom magnetic field mapping by autonomous underwater vehicle. Geophysical Research Letters, 25(6), 805\u2013808.","journal-title":"Geophysical Research Letters"},{"key":"9547_CR46","unstructured":"Todd, R. E., Rudnick, D. L., Mazloff, M. R., Davis, R. E., & Cornuelle, B. D. (2011). Poleward flows in the southern california current system: Glider observations and numerical simulation. Journal of Geophysical Research: Oceans (1978\u20132012) 116(C2)."},{"issue":"4","key":"9547_CR47","first-page":"283","volume":"51","author":"F Graas van","year":"2004","unstructured":"van Graas, F., & Soloviev, A. (2004). Precise velocity estimation using a stand-alone GPS receiver. Navigation (Washington, DC), 51(4), 283\u2013292.","journal-title":"Navigation (Washington, DC)"},{"issue":"5","key":"9547_CR48","doi-asserted-by":"crossref","first-page":"794","DOI":"10.1175\/1520-0426(2002)019<0794:DVPULA>2.0.CO;2","volume":"19","author":"M Visbeck","year":"2002","unstructured":"Visbeck, M. (2002). Deep velocity profiling using lowered acoustic Doppler current profilers: Bottom track and inverse solutions. Journal of Atmospheric and Oceanic Technology, 19(5), 794\u2013807.","journal-title":"Journal of Atmospheric and Oceanic Technology"},{"issue":"4","key":"9547_CR49","doi-asserted-by":"crossref","first-page":"335","DOI":"10.1177\/0278364906075026","volume":"26","author":"M Walter","year":"2007","unstructured":"Walter, M., Eustice, R., & Leonard, J. (2007). Exactly sparse extended information filters for feature-based SLAM. The International Journal of Robotics Research, 26(4), 335\u2013359.","journal-title":"The International Journal of Robotics Research"},{"key":"9547_CR50","unstructured":"Whitcomb, L. L., Yoerger, D. R., Singh, H., & Howland, J. (1999). Combined Doppler\/LBL based navigation of underwater vehicles. In Proceedings of the the 11th international symposium on unmanned untethered submersible technology, Durham, NH."},{"key":"9547_CR51","doi-asserted-by":"crossref","unstructured":"Williams, S., Pizarro, O., Mahon, I., & Johnson-Roberson, M. (2009). Simultaneous localisation and mapping and dense stereoscopic seafloor reconstruction using an AUV. In Experimental robotics. Berlin: Springer, (pp. 407\u2013416).","DOI":"10.1007\/978-3-642-00196-3_47"},{"issue":"5","key":"9547_CR52","doi-asserted-by":"crossref","first-page":"675","DOI":"10.1002\/rob.20356","volume":"27","author":"S Williams","year":"2010","unstructured":"Williams, S., Pizarro, O., Webster, J., Beaman, R., Mahon, I., Johnson-Roberson, M., et al. (2010). Autonomous underwater vehicle-assisted surveying of drowned reefs on the shelf edge of the Great Barrier Reef. Australia. Journal of Field Robotics, 27(5), 675\u2013697.","journal-title":"Journal of Field Robotics"},{"issue":"1","key":"9547_CR53","doi-asserted-by":"publisher","first-page":"73","DOI":"10.1109\/MRA.2011.2181772","volume":"19","author":"S Williams","year":"2012","unstructured":"Williams, S., Pizarro, O., Jakuba, M., Johnson, C., Barrett, N., Babcock, R., et al. (2012). Monitoring of benthic reference sites: Using an autonomous underwater vehicle. IEEE Robotics Automation Magazine, 19(1), 73\u201384. doi: 10.1109\/MRA.2011.2181772 .","journal-title":"IEEE Robotics Automation Magazine"},{"issue":"1","key":"9547_CR54","doi-asserted-by":"crossref","first-page":"41","DOI":"10.1177\/0278364907073773","volume":"26","author":"D Yoerger","year":"2007","unstructured":"Yoerger, D., Jakuba, M., Bradley, A., & Bingham, B. (2007). Techniques for deep sea near bottom survey using an autonomous underwater vehicle. International Journal of Robotics Research, 26(1), 41\u201354.","journal-title":"International Journal of Robotics Research"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-016-9547-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10514-016-9547-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-016-9547-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-016-9547-3","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,4]],"date-time":"2019-09-04T13:14:45Z","timestamp":1567602885000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10514-016-9547-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,2,11]]},"references-count":54,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2016,10]]}},"alternative-id":["9547"],"URL":"https:\/\/doi.org\/10.1007\/s10514-016-9547-3","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,2,11]]}}}