AUV-Based Plume Tracking: A Simulation Study

Algorithm 1

AUV localization and navigation algorithm.

()    Initialize with: and its covariance

()    for    do

()        for    do

()            Read IMU measurements

()            Calculate sigma points

()            Compute using and (14)

()            Redraw sigma points

()            if  Attitude measurements are available  then

()             Read

()         if  Pressure measurement is available  then

()          Read

()         if  DVL bottom-track is available  then

()          ,

()         else

()          ,

()         if  Tr signal is received by all receivers  then

()          Construct

()         Compute

()         Implement and using (18) and (19)

()         Check the condition in (22)

()         if  WP is achieved  then

()          Exit and start from the next WP