USBL Aided Navigation: Bounding Dead Reckoning Drift in Heterogeneous ASV–AUV Teams

Supplementary Material for Extended Abstract at OCEANS 2026, Sanya

Desired versus ground-truth AUV trajectories for all AUVs with mission area boundary and ASV position.
Desired versus ground-truth AUV trajectories for all AUVs. Dashed lines show the assigned lawnmower references and solid lines show executed ground-truth tracks. The mission area boundary and the stationary ASV surface anchor (black star) are overlaid; circles/crosses mark start/end.
3D position error versus distance traveled for each AUV (log scale).
3D position error versus ground-truth distance traveled (log-scale on error). IMU-only drift increases monotonically, while USBL-aided fusion remains bounded by discrete surface-provided corrections.
X and Y position components over time for each AUV comparing ground truth, IMU, and IMU+USBL, with fix arrival markers.
Position components over time (X top row, Y bottom row) for each AUV: ground truth, IMU dead reckoning, and IMU+USBL fusion. Vertical markers indicate USBL fix arrivals used for correction.