# Positioning Systems for Unmanned Underwater Vehicles: A Comprehensive Review
## 3 Reviewing Positioning Systems and Their Capabilities
### Improving the Categorization
\begin{table}
\begin{tabular}{c c c c c c c} \hline
**Reference** & **Positioning System** & **AUV/ROV** & **Horizontal Range** & **Cost** & **Suitability for Depth** & **Maintenance Cost** \\ \hline
[15] & Inertial Navigation Systems & Both & \
\begin{tabular}{c} High (with \\ some restrictions) \\ \end{tabular} & High & All depths &
\begin{tabular}{c} High: \\ Frequent recalibration \\ because accuracy \\ is needed. \\ \end{tabular} \\ \hline
[103] & Long Baseline Systems & Both & Medium & High & Ideal for deep water &
\begin{tabular}{c} High: \\ Frequent recalibration \\ \end{tabular} \\ \hline
[91] & Gravity Gradiometry & AUV & - & - & High (1300 m) & - \\ \hline
[39] & Global Navigation Satellite &
\begin{tabular}{c} System, Doppler Velocity \\ Logs, Inertial \\ Navigation System \\ \end{tabular} & Hybrid & - & - & - & - \\ \hline
[52] & Doppler Velocity Logs & AUV & Limited & Medium & All depths & - \\ \hline
[104] & Ultra-Short Baseline & AUV & - & - & - & - \\ \hline
[32] & Inertial Navigation System &
\begin{tabular}{c} based on inertial \\ measurement unit \\ \end{tabular} & ROV & - & Low & - & Low \\ \hline
[53] & Doppler Velocity Logs & ROV & Medium (200 m–700 m) & Low &
\begin{tabular}{c} Medium to high \\ (250 m–600 m) \\ \end{tabular} & - \\ \hline
[107] & \
\begin{tabular}{c} Light Detection \\ and Ranging \\ \end{tabular} & AUV & Low to medium & - &
\begin{tabular}{c} Medium: \\ Component-wise \\ High: Image Wise \\ \end{tabular} & - \\ \hline
[29] & Inertial Navigation System & ROV & \begin{tabular}{c} Low to medium \\ (due to tethered) \\ connection) (60 m) \\ \end{tabular} & \
\begin{tabular}{c} Lower \\ than \\ AUV \\ \end{tabular} &
\begin{tabular}{c} Low (depends on its \\ sensor’s maximum \\ depth reach) \\ \end{tabular} & - \\ \hline
[110] & \
\begin{tabular}{c} Doppler Velocity Logs, \\ Long Baseline, Hydrostatic \\ Pressure Sensor, Inertial \\ Navigation System \\ \end{tabular} & Hybrid &
\begin{tabular}{c} ROV max: 2270 m \\ AUV max: 10.843 m \\ \end{tabular} & High & Very high (11,000 m) & High \\ \hline
[93] &
\begin{tabular}{c} Inertial Navigation System, \\ Visual Controllers \\ \end{tabular} & AUV & - & Low & - & - \\ \hline
[105] & Ultra-Short Baseline & Both & - & Low & - & - \\ \hline
[109] &
\begin{tabular}{c} Light Detection \\ and Ranging \\ \end{tabular} & Both & - & Low & Low: 25 m & - \\ \hline
[38] & Not Mentioned & ROV & Cable limits its potential & Low & Medium (600 m) & Low \\ \hline
[73] & Electromagnetic Positioning & Both & - & - & - & - \\ \hline
[21] & \
\begin{tabular}{c} Inertial Navigation System, \\ Doppler Velocity Logs, \\ Global Positioning System \\ (on the water surface) \\ \end{tabular} & AUV & 300m & - &
\begin{tabular}{c} Low due to risk: 25 m \\ (can go even \\ \end{tabular} & - \\ \hline
[69] & Photogrammetry & - & - & - & - & - \\ \hline
[62] & Geomagnetic & AUV & - & - & - & - \\ \hline
[16] & Not mentioned & AUV/GLIDERS & Low to medium & Low & Medium 300 m & - \\ \hline
[79] & \
\begin{tabular}{c} Inertial Navigation System, \\ Fiber Optic Gyroscope \\ \end{tabular} & AUV & - &
\begin{tabular}{c} Medium \\ to high \\ due to \\ acoustic \\ system \\ \end{tabular} & - & - & - \\ \hline
[27] & \
\begin{tabular}{c} Long Baseline, \\ Ultra-Short Baseline \\ \end{tabular} & ROV & - & Low &
\begin{tabular}{c} Medium: Down \\ to 300 m \\ \end{tabular} & - \\ \hline
[86] & Synthetic Aperture Radar & - & High & Medium & Low to medium & - \\ \hline
[49] &
\begin{tabular}{c} Long Baseline, \\ Short Baseline, \\ Ultra-Short Baseline \\ \end{tabular} & AUV & - & - & - & - \\ \hline
[59] & Acoustic Modem & - & 350 m & Low & Low to medium & - \\ \hline
[20] & Not Mentioned & AUV & High: 20 km & Low & Medium: 300 m & - \\ \hline
[87] & \begin{tabular}{c} Biomimetic Positioning \\ \end{tabular} & \
\begin{tabular}{c} AUV (with \\ some ROV \\ operations) \\ \end{tabular} &
\begin{tabular}{c} Subsea: \\ downloading video \\ \end{tabular} & Affordable & Minimum 100 m & - \\ \hline \end{tabular}
\end{table}