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This paper presents a novel approach to the design of globally asymptoticallystable (GAS) position filters for Autonomous Underwater Vehicles (AUVs) baseddirectly on the nonlinear sensor readings of an Ultra-short Baseline (USBL) anda Doppler Velocity Log (DVL). Central to the proposed solution is thederivation of a linear time-varying (LTV) system that fully captures thedynamics of the nonlinear system, allowing for the use of powerful linearsystem analysis and filtering design tools that yield GAS filter errordynamics. Simulation results reveal that the proposed filter is able to achievethe same level of performance of more traditional solutions, such as theExtended Kalman Filter (EKF), while providing, at the same time, GASguarantees, which are absent for the EKF.

Position USBL/DVL Sensor-based Navigation Filter in the presence of Unknown Ocean Currents