BIND-USBL bounds AUV IMU drift via intermittent USBL fixes from ASV teams, with performance governed by survey scale, acoustic coverage, team geometry, and a TDMA scheduler that improves fix rates without collisions.
Design and experimental results of passive iusbl for small auv navigation,
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BIND-USBL: Bounding IMU Navigation Drift using USBL in Heterogeneous ASV-AUV Teams
BIND-USBL bounds AUV IMU drift via intermittent USBL fixes from ASV teams, with performance governed by survey scale, acoustic coverage, team geometry, and a TDMA scheduler that improves fix rates without collisions.