{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,10]],"date-time":"2026-02-10T20:12:27Z","timestamp":1770754347950,"version":"3.50.0"},"reference-count":17,"publisher":"MDPI AG","issue":"17","license":[{"start":{"date-parts":[[2020,8,20]],"date-time":"2020-08-20T00:00:00Z","timestamp":1597881600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Emerging opportunities in the exploration of inland water bodies, such as underwater mining of flooded open pit mines, require accurate real-time positioning of multiple underwater assets. In the mining operation scenarios, operational requirements deny the application of standard acoustic positioning techniques, posing additional challenges to the localization problem. This paper presents a novel underwater localization solution, implemented for the \u00a1VAMOS! project, based on the combination of raw measurements from a short baseline (SBL) array and an inverted ultrashort baseline (iUSBL). An extended Kalman filter (EKF), fusing IMU raw measurements, pressure observations, SBL ranges, and USBL directional angles, estimates the localization of an underwater mining vehicle in 6DOF. Sensor bias and the speed of sound in the water are estimated indirectly by the filter. Moreover, in order to discard acoustic outliers, due to multipath reflections in such a confined and cluttered space, a data association layer and a dynamic SBL master selection heuristic were implemented. To demonstrate the advantage of this new technique, results obtained in the field, during the \u00a1VAMOS! underwater mining field trials, are presented and discussed.<\/jats:p>","DOI":"10.3390\/s20174710","type":"journal-article","created":{"date-parts":[[2020,8,20]],"date-time":"2020-08-20T09:35:31Z","timestamp":1597916131000},"page":"4710","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":20,"title":["Underwater Localization System Combining iUSBL with Dynamic SBL in \u00a1VAMOS! Trials"],"prefix":"10.3390","volume":"20","author":[{"given":"Jos\u00e9","family":"Almeida","sequence":"first","affiliation":[{"name":"INESC Technology and Science, Centre for Robotics and Autonomous Systems, 4200-465 Porto, Portugal"},{"name":"ISEP-School of Engineering, Electrical Engineering Department, 4200-072 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5036-7762","authenticated-orcid":false,"given":"Bruno","family":"Matias","sequence":"additional","affiliation":[{"name":"INESC Technology and Science, Centre for Robotics and Autonomous Systems, 4200-465 Porto, Portugal"},{"name":"ISEP-School of Engineering, Electrical Engineering Department, 4200-072 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6091-1549","authenticated-orcid":false,"given":"Ant\u00f3nio","family":"Ferreira","sequence":"additional","affiliation":[{"name":"INESC Technology and Science, Centre for Robotics and Autonomous Systems, 4200-465 Porto, Portugal"},{"name":"ISEP-School of Engineering, Electrical Engineering Department, 4200-072 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2773-703X","authenticated-orcid":false,"given":"Carlos","family":"Almeida","sequence":"additional","affiliation":[{"name":"INESC Technology and Science, Centre for Robotics and Autonomous Systems, 4200-465 Porto, Portugal"},{"name":"ISEP-School of Engineering, Electrical Engineering Department, 4200-072 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3195-5638","authenticated-orcid":false,"given":"Alfredo","family":"Martins","sequence":"additional","affiliation":[{"name":"INESC Technology and Science, Centre for Robotics and Autonomous Systems, 4200-465 Porto, Portugal"},{"name":"ISEP-School of Engineering, Electrical Engineering Department, 4200-072 Porto, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7166-3459","authenticated-orcid":false,"given":"Eduardo","family":"Silva","sequence":"additional","affiliation":[{"name":"INESC Technology and Science, Centre for Robotics and Autonomous Systems, 4200-465 Porto, Portugal"},{"name":"ISEP-School of Engineering, Electrical Engineering Department, 4200-072 Porto, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2020,8,20]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Almeida, J., Ferreira, A., Matias, B., Lomba, C., Martins, A., and Silva, E. (2018, January 1\u20135). VAMOS Underwater Mining Machine Navigation System. Proceedings of the 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain.","DOI":"10.1109\/IROS.2018.8593773"},{"key":"ref_2","unstructured":"Majumder, S., Scheding, S., and Durrant-Whyte, H. (September, January 30). Sensor Fusion and Map Building for Underwater Navigation. Proceedings of the Australian Conference on Robotics and Automation, Melbourne, VIC, Australia."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Karimi, M., Bozorg, M., and Khayatian, A.R. (2013, January 13\u201315). A comparison of DVL\/INS fusion by UKF and EKF to localize an autonomous underwater vehicle. 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Field Robot."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/17\/4710\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T10:04:02Z","timestamp":1760177042000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/20\/17\/4710"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,8,20]]},"references-count":17,"journal-issue":{"issue":"17","published-online":{"date-parts":[[2020,9]]}},"alternative-id":["s20174710"],"URL":"https:\/\/doi.org\/10.3390\/s20174710","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,8,20]]}}}