  This study introduces a groundbreaking approach for real-time 3D
localization, specifically focusing on achieving seamless and precise
localization during an AUV's terminal guidance phase as it approaches an
omnidirectional docking component in an automated Launch and Recovery System
(LARS). Through the use of the AUV's magnetometer, an economical
electromagnetic beacon embedded in the docking station, and an advanced signal
processing algorithm, this novel approach ensures the accurate localization of
the docking component in three dimensions without the need for direct
line-of-sight contact. The method's real-time capabilities were rigorously
evaluated via simulations, prototype experiments in a controlled lab setting,
and extensive full-scale pool experiments. These assessments consistently
demonstrated an exceptional average positioning accuracy of under 3 cm.,
marking a significant advancement in AUV guidance systems.
