Robust naval localization using a particle filter on polar amplitude gridmapsShow others and affiliations
2021 (English)In: Proceedings of 2021 IEEE 24th International Conference on Information Fusion, FUSION 2021, Institute of Electrical and Electronics Engineers Inc. , 2021, p. 931-938Conference paper, Published paper (Refereed)
Abstract [en]
Maritime navigation heavily relies on global navigation satellite systems and related technologies for positioning. Since these technologies are vulnerable to external threats such as signal spoofing, alternatives are needed to increase reliability and ensure safe navigation. Our proposal is to use radar to construct polar amplitude gridmaps tailored for the intended route, and using a particle filter for position estimation. The proposed approach has been successfully demonstrated on data from a surface vessel in the harbor of Helsinki.
Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc. , 2021. p. 931-938
Keywords [en]
Amplitude gridmap, Marine navigation, Particle filter, Position monitoring, Information fusion, A-particles, Global Navigation Satellite Systems, Localisation, Maritime navigation, Position estimation, Safe navigations, Surface vessels, Monte Carlo methods
National Category
Reliability and Maintenance Transport Systems and Logistics
Identifiers
URN: urn:nbn:se:kth:diva-316391ISI: 000869154400122Scopus ID: 2-s2.0-85123411734OAI: oai:DiVA.org:kth-316391DiVA, id: diva2:1687838
Conference
24th IEEE International Conference on Information Fusion, FUSION 2021, Sun City, South Africa, 1-4 November 2021
Note
Part of proceedings: ISBN 978-1-7377497-1-4
QC 20220816
2022-08-162022-08-162022-11-29Bibliographically approved