An Origin State Method for Lossy Synchronous-clock Acoustic Navigation

This paper examines the problem of localizing a network of underwater vehicles using inter-vehicle range observations derived from measuring the one-way-travel-time (OWTT) of acoustic broadcasts. We report the derivation of the novel origin state method; an algorithm for distributing a local pose-graph as a sequence of minimal bandwidth information packets that is robust to packet loss. We demonstrate the effectiveness of this algorithm as an extension of the decentralized extended information filter (DEIF) for synchronous-clock acoustic navigation through post-process implementation using a real-world data set.