Comparison of Recursive and Non-Recursive Bayesian Estimation Algorithms with Factor-Graph Optimization in Pinpoint-Based Navigation

Abstract A comparative analysis has been performed for the algorithms correcting the navigation system data of an autonomous underwater vehicle (AUV) using the ranges to acoustic beacons in the case of their unfavorable location relative to the AUV. The paper studies a recursive iterative Kalman filter, an iterative batch linearized smoother, an algorithm based on their combined use, and an algorithm based on factor graph optimization methods.