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Compressed delayed-information projection for six-degree-of-freedom underwater vehicle navigation under delayed acoustic positioning

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

Delayed acoustic positioning packets constrain historical navigation states, but a current-time update evaluates them against a mismatched state, whereas exact rewind/replay re-executes the intervening estimator history. This paper introduces compressed delayed-information projection (CDIP), a causal 15-state error-state Kalman filter (ESKF) treatment for delayed-acoustic unmanned underwater vehicle (UUV) navigation. CDIP retains a source-epoch snapshot and the historical-to-current cross-covariance, then projects the delayed source-epoch acoustic correction directly to the current state witho

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