arxivcs.ROeess.SY2026-07-12
Underwater Dead Reckoning with Deployable Situation-Triggered Covariance Scheduling
Akshay Naik, Ramavarapu S. Sreenivas, Dustin Nottage, Ahmet Soylemezoglu
Underwater dead reckoning estimates vehicle position when vision is unavailable and external positioning cannot be assumed. A single set of filter parameters can work well in many situations, but fixed tuning may be poorly matched during turns, motion transitions, or periods when…