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Characterizing Refraction-Induced Ranging Bias in Underwater Collaborative Localization

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

This work studies how refraction-induced bias on acoustic ranging affects multi-agent collaborative localization in a range of oceanographic conditions and spatial scales. While multi-agent range-aided navigation, which uses range measurements to either fixed infrastructure or other agents, is a promising solution to the challenges of large-scale underwater localization, its accuracy depends strongly on the quality of range measurements. Sound speed variability induces refraction (bending) of acoustic rays, yet, for algorithmic tractability, standard sensor fusion pipelines assume straight-lin

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