Bias analysis and reduction for underwater localization problem

In the previous work, we proposed a generic method to analyze and reduce the bias in localization algorithms. The proposed method combines the Taylor series and Jacobian matrices to determine the bias and leads to an easily calculated analytical bias expression. However all the previous works focus on the terrestrial localization applications. In this paper we extend the method to underwater localization which is more complex than the terrestrial one. In order to reduce the underwater localization bias, an adjustment is required for the proposed bias-correction method. The Monte Carlo simulation results demonstrate the performance of the proposed bias-correction method in underwater localization situation.