  We present a sensor misalignment-tolerant AUV navigation method that
leverages measurements from an acoustic array and dead reckoned information.
Recent studies have demonstrated the potential use of passive acoustic
Direction of Arrival (DoA) measurements for AUV navigation without requiring
ranging measurements. However, the sensor misalignment between the acoustic
array and the attitude sensor was not accounted for. Such misalignment may
deteriorate the navigation accuracy. This paper proposes a novel approach that
allows simultaneous AUV navigation, beacon localization, and sensor alignment.
An Unscented Kalman Filter (UKF) that enables the necessary calculations to be
completed at an affordable computational load is developed. A Nonlinear Least
Squares (NLS)-based technique is employed to find an initial solution for
beacon localization and sensor alignment as early as possible using a
short-term window of measurements. Experimental results demonstrate the
performance of the proposed method.
