# CDIP: Compressed Delayed-Information Projection for Underwater Navigation Under Acoustic Measurement Latency

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/ww197wgnntj4mzrd468uzc8d3
- Original: https://arxiv.org/abs/2609.27439

## Summary

The paper proposes compressed delayed-information projection (CDIP), which handles delayed-arrival acoustic position measurements in a 15-dimensional error-state Kalman filter (ESKF), retaining source-associated IMU snapshots and the current-to-snapshot cross-covariances, so delayed corrections can be projected without repeating the filter from the start.