Robust Magnetic Tracking of Subsea Cable by AUV in the Presence of Sensor Noise and Ocean Currents

To inspect subsea cables, an autonomous underwater vehicle (AUV) with two triaxial magnetometers is usually assigned to track the cable route. In this paper, a novel two-layer framework synthesizing antinoise cable localization and robust tracking algorithm is proposed to guide an AUV to track subsea cables in the presence of sensor noise and ocean currents. First, an analytic formulation for the ...