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Wave-Robust Passive AUV Localization Using FP-MUSIC

arXiv · AI, language, vision and robotics · article · Sep 23, 2026 · UTC

Localizing an autonomous underwater vehicle without pre-deployed seabed transponders, or direct access to onboard vehicle sensors remains a core challenge. We present a receiver-passive 3-D localization and spatial mapping system utilizing a single floating surface buoy equipped with a hydrophone array and an inertial measurement unit (IMU). The central difficulty is that surface wave motion induces six-degree-of-freedom (6-DOF) perturbations that rotate the array between snapshots, degrading conventional subspace processing. We resolve this by introducing a fixed-point iterative MUltiple SIgn

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