Conclusion and future work

A new cooperative acoustic navigation concept based on intelligent sonobuoy with DGPS, that fits into coordinated control of hetergenous vehicles was proposed in this paper, which gives a great advantage to coordinate a team of heterogenous vehicles with provided position estimates in centi-metric accuracy. It is believed that the navigation method proposed may represent a significant alternative to the ones based on traditional navigation methods (such as LBL, SBL, USBL and INS/ GPS, etc.), and the novel acoustic navigation method is especially suitable for the field of coordinated control of heterogenous vehicles including ASV and AUVs due to its characteristics of upwards acoustic flow of data. Future work is to develop a robust acoustic navigation system that can perform reliably and also include a version of the system in the presence of multi-path effects, acoustic outliers and of course include in-water validation of the system.

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