Terrain navigation for underwater vehicles using the correlator method
2004 (English)In: IEEE Journal of Oceanic Engineering, ISSN 0364-9059, Vol. 29, no 3, 906-915 p.Article in journal (Refereed) Published
In many autonomous underwater vehicle (AUV) applications of long duration, there is a need to accurately determine the AUV's position in an effective way, in terms of both cost and energy consumption. Such situations may occur in reconnaissance operations, mine counter measure operations, and when an AUV is sampling the characteristics of the environment along a track. Since underwater maps are rare, there also is a need for navigational methods that can accommodate very infrequent sampling in terms of time and space. This paper describes a new method to solve the above problem by using a multibeam sonar for three-dimensional sampling of the bottom topography and a linear Kalman filter in a nearly optimal way. The proposed method is very accurate, robust, and computationally efficient compared to other methods that are used for terrain navigation. This method is also suitable for continuous navigation.
Place, publisher, year, edition, pages
2004. Vol. 29, no 3, 906-915 p.
Bayesian recursive filter, correlation, linear Kalman filter, maximum-likelihood (ML) estimation, terrain navigation
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-23861DOI: 10.1109/joe.2004.833222ISI: 000224900800034ScopusID: 2-s2.0-9244241011OAI: oai:DiVA.org:kth-23861DiVA: diva2:342560
QC 20100525 QC 201111032010-08-102010-08-102011-11-03Bibliographically approved