# Scalable Aerial GNSS Localization for Marine Robots

arXiv: https://arxiv.org/abs/2505.04095 · HTML: https://mlsanity.com/paper/2505.04095/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 5 of its 31 references that are in the map.
- First posted on arXiv 7 May 2025.

## Builds on (most cited first, 5 of 5)

- [YOLOv3: An Incremental Improvement](https://mlsanity.com/paper/1804.02767/) (2018)
- [YOLOv11: An Overview of the Key Architectural Enhancements](https://mlsanity.com/paper/2410.17725/) (2024)
- [The Effectiveness of Data Augmentation in Image Classification using Deep Learning](https://mlsanity.com/paper/1712.04621/) (2017)
- [Cross-view and Cross-domain Underwater Localization based on Optical Aerial and Acoustic Underwater Images](https://mlsanity.com/paper/2202.07817/) (2022)
- [Underwater Surveying via Bearing only Cooperative Localization](https://mlsanity.com/paper/1809.03594/) (2018)

## Built on by (most cited first, 1 of 1)

- [Stable Multi-Drone GNSS Tracking System for Marine Robots](https://mlsanity.com/paper/2511.18694/) (2025)

## Abstract (arXiv)

Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS receivers. Existing approaches, such as inertial navigation, Doppler Velocity Loggers (DVL), SLAM, and acoustic-based methods, face challenges like error accumulation and high computational complexity. Therefore, a more efficient and scalable solution remains necessary. This paper proposes an alternative approach that leverages an aerial drone equipped with GNSS localization to track and localize a marine robot once it is near the surface of the water. Our results show that this novel adaptation enables accurate single and multi-robot marine robot localization.