{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:04:17Z","timestamp":1777716257688,"version":"3.51.4"},"reference-count":50,"publisher":"SAGE Publications","issue":"8","license":[{"start":{"date-parts":[[2012,5,23]],"date-time":"2012-05-23T00:00:00Z","timestamp":1337731200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2012,7]]},"abstract":"<jats:p>This paper reports the formulation and evaluation of a centralized extended Kalman filter designed for a novel navigation system for underwater vehicles. The navigation system employs Doppler sonar, depth sensors, synchronous clocks, and acoustic modems to achieve simultaneous acoustic communication and navigation. The use of a single moving reference beacon eliminates the requirement for the underwater vehicle to remain in a bounded navigable area; the use of underwater modems and synchronous clocks enables range measurements based on one-way time-of-flight information from acoustic data-packet broadcasts. The acoustic data packets are broadcast from a single, moving reference beacon and can be received simultaneously by multiple vehicles within acoustic range. We report results from a simulated deep-water survey and real field data collected from an autonomous underwater vehicle survey in 4000 m of water on the southern Mid-Atlantic Ridge with an independent long-baseline navigation system for ground truth.<\/jats:p>","DOI":"10.1177\/0278364912446166","type":"journal-article","created":{"date-parts":[[2012,5,25]],"date-time":"2012-05-25T16:30:56Z","timestamp":1337963456000},"page":"935-950","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":165,"title":["Advances in single-beacon one-way-travel-time acoustic navigation for underwater vehicles"],"prefix":"10.1177","volume":"31","author":[{"given":"Sarah E","family":"Webster","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Johns Hopkins University"},{"name":"Consortium for Ocean Leadership, Washington D.C."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ryan M","family":"Eustice","sequence":"additional","affiliation":[{"name":"Department of Naval Architecture & Marine Engineering, University of Michigan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hanumant","family":"Singh","sequence":"additional","affiliation":[{"name":"Department of Applied Ocean Physics & Engineering, Woods Hole Oceanographic Institution"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Louis L","family":"Whitcomb","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Johns Hopkins University"},{"name":"Department of Applied Ocean Physics & Engineering, Woods Hole Oceanographic Institution"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2012,5,23]]},"reference":[{"key":"bibr1-0278364912446166","unstructured":"Alleyne JC (2000) Position estimation from range only measurements. Master\u2019s Thesis, Naval Postgraduate School, Monterey, CA, US."},{"key":"bibr2-0278364912446166","unstructured":"Applanix (2008) POS MV (Position and Orientation Systems for Marine Vessels). Applanix, Richmond Hill, ON, Canada. Available at: http:\/\/www.applanix.com\/products\/marine\/pos-mv.html (accessed 14 November 2010)."},{"key":"bibr3-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1014361"},{"key":"bibr4-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2003.1250729"},{"key":"bibr5-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1575\/1912\/2852"},{"key":"bibr6-0278364912446166","first-page":"387","volume-title":"Proceedings of the 10th international symposium on experimental robotics (ISER)","author":"Bahr A","year":"2006"},{"key":"bibr7-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1002\/0471221279"},{"key":"bibr8-0278364912446166","unstructured":"C&C Technologies (2010) C-Nav2000. C&C Technologies, Lafayette, LA, USA. Available at: http:\/\/www.cnavgnss.com\/site407.php (accessed 14 November 2010)."},{"key":"bibr9-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1575\/1912\/1414"},{"key":"bibr10-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2006.306931"},{"key":"bibr11-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.364134"},{"key":"bibr12-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910380760"},{"key":"bibr13-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2005.1639901"},{"key":"bibr14-0278364912446166","unstructured":"Gadre A (2007) Observability analysis in navigation systems with an underwater vehicle application. PhD dissertation, Virginia Polytechnic Institute and State University, Blacksburg, Virginia."},{"key":"bibr15-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1302422"},{"key":"bibr16-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1545230"},{"key":"bibr17-0278364912446166","first-page":"656","volume-title":"Proceedings of the American control conference","volume":"1","author":"Gadre A","year":"2005"},{"key":"bibr18-0278364912446166","volume-title":"Applied Optimal Estimation","author":"Gelb A","year":"1982"},{"key":"bibr19-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1016\/j.epsl.2008.06.048"},{"key":"bibr20-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1029\/2006GC001509"},{"key":"bibr21-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1575\/1912\/1637"},{"key":"bibr22-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-7091-3311-8"},{"key":"bibr23-0278364912446166","author":"Hunt M","year":"1974","journal-title":"Technical report WHOI-74-6, Woods Hole Oceanographic Institution"},{"key":"bibr24-0278364912446166","unstructured":"ITC (2010) Model ITC-3013. International Transducer Corporation, Santa Barbara, CA, USA. Available at: http:\/\/www.itc-transducers.com\/ (accessed 14 November 2010)."},{"key":"bibr25-0278364912446166","first-page":"1789","volume-title":"Proceedings IEEE 2006 CCA\/CACSD\/ISIC","author":"Jouffroy J","year":"2006"},{"key":"bibr26-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1115\/1.3662552"},{"key":"bibr27-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2007.893686"},{"key":"bibr28-0278364912446166","unstructured":"LaPointe CE (2006) Virtual long baseline (VLBL) autonomous underwater vehicle navigation using a single transponder. Master\u2019s thesis, Massachusetts Institute of Technology and Woods Hole Oceanographic Institution."},{"key":"bibr29-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2000.882240"},{"key":"bibr30-0278364912446166","unstructured":"Larsen MB (2001) Autonomous navigation of underwater vehicles. PhD Dissertation, Technical University of Denmark, Denmark."},{"key":"bibr31-0278364912446166","first-page":"2043","volume":"6","author":"Larsen MB","year":"2002","journal-title":"Hydro International"},{"key":"bibr32-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANSKOBE.2008.4531072"},{"key":"bibr33-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2009.2030223"},{"key":"bibr34-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1243\/09596518JSCE952"},{"key":"bibr35-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1016\/S0165-1684(01)00187-6"},{"key":"bibr36-0278364912446166","volume-title":"Proceedings of the international symposium on unmanned untethered submersible technology (UUST)","author":"Ross A","year":"2005"},{"key":"bibr37-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.1995.528728"},{"key":"bibr38-0278364912446166","unstructured":"Schmidt V (2009) Matlab\n                      \u00ae\n                      raytrace.m function. Center for Coastal and Ocean Mapping\/Joint Hydrographic Center, University of New Hampshire, Durham, NH, USA. Available at: http:\/\/www.mathworks.com\/matlabcentral\/fileexchange\/26253-raytrace (accessed 14 November 2010)."},{"key":"bibr39-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1109\/48.972084"},{"key":"bibr40-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1029\/2004EO310002"},{"key":"bibr41-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1109\/48.775299"},{"key":"bibr42-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANSSYD.2010.5603647"},{"key":"bibr43-0278364912446166","volume-title":"Principles of Underwater Sound","author":"Urick R","year":"1983"},{"key":"bibr44-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1109\/OCEANS.2000.881809"},{"key":"bibr45-0278364912446166","first-page":"1","volume-title":"Proceedings of the IEEE\/MTS OCEANS conference and exhibition","author":"Walls JM"},{"key":"bibr46-0278364912446166","unstructured":"Webster SE (2010) Decentralized single-beacon acoustic navigation: Combined communication and navigation for underwater vehicles. PhD dissertation, Johns Hopkins University, Baltimore, MD, USA."},{"key":"bibr47-0278364912446166","first-page":"1","volume-title":"Proceedings of the IEEE\/MTS OCEANS conference and exhibition","author":"Webster SE","year":"2009"},{"key":"bibr48-0278364912446166","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354457"},{"key":"bibr49-0278364912446166","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2010.VI.011"},{"key":"bibr50-0278364912446166","unstructured":"Woods Hole Oceanographic Institution (2010) R\/V Knorr: Specifications. Woods Hole, MA. Available at: http:\/\/www.whoi.edu\/page.do?pid=8496 (accessed 14 November 2010)."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364912446166","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364912446166","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:17:49Z","timestamp":1777457869000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364912446166"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,5,23]]},"references-count":50,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2012,7]]}},"alternative-id":["10.1177\/0278364912446166"],"URL":"https:\/\/doi.org\/10.1177\/0278364912446166","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,5,23]]}}}