# Stable Multi-Drone GNSS Tracking System for Marine Robots

arXiv: https://arxiv.org/abs/2511.18694 · HTML: https://mlsanity.com/paper/2511.18694/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 12 of its 57 references that are in the map.
- First posted on arXiv 24 Nov 2025.

## Builds on (most cited first, 12 of 12)

- [ByteTrack: Multi-Object Tracking by Associating Every Detection Box](https://mlsanity.com/paper/2110.06864/) (2021)
- [YOLOv11: An Overview of the Key Architectural Enhancements](https://mlsanity.com/paper/2410.17725/) (2024)
- [Lifting Multi-View Detection and Tracking to the Bird's Eye View](https://mlsanity.com/paper/2403.12573/) (2024)
- [Multi-Camera Multiple 3D Object Tracking on the Move for Autonomous Vehicles](https://mlsanity.com/paper/2204.09151/) (2022)
- [CtRNet-X: Camera-to-Robot Pose Estimation in Real-world Conditions Using a Single Camera](https://mlsanity.com/paper/2409.10441/) (2024)
- [Towards a Generic Diver-Following Algorithm: Balancing Robustness and Efficiency in Deep Visual Detection](https://mlsanity.com/paper/1809.06849/) (2018)
- [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)
- [Distributed Multi-Target Tracking in Camera Networks](https://mlsanity.com/paper/2010.13701/) (2020)
- [Towards Effective Multi-Moving-Camera Tracking: A New Dataset and Lightweight Link Model](https://mlsanity.com/paper/2312.11035/) (2023)
- [TCAFF: Temporal Consistency for Robot Frame Alignment](https://mlsanity.com/paper/2405.05210/) (2024)
- [Scalable Aerial GNSS Localization for Marine Robots](https://mlsanity.com/paper/2505.04095/) (2025)

## Abstract (arXiv)

Stable and accurate tracking is essential for marine robotics, yet Global Navigation Satellite System (GNSS) signals vanish immediately below the sea surface. Traditional alternatives suffer from error accumulation, high computational demands, or infrastructure dependence. In this work, we present a multi-drone GNSS-based tracking system for surface and near-surface marine robots. Our approach combines efficient visual detection, lightweight multi-object tracking, GNSS-based triangulation, and a confidence-weighted Extended Kalman Filter (EKF) to provide stable GNSS estimation in real time. We further introduce a cross-drone tracking ID alignment algorithm that enforces global consistency across views, enabling robust multi-robot tracking with cooperative aerial coverage. We validate our system in diversified complex settings to show the accuracy and robustness of the proposed algorithm.