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Terrain navigation for underwater vehicles using the correlator method
KTH, Superseded Departments, Signals, Sensors and Systems.
KTH, Superseded Departments, Signals, Sensors and Systems.ORCID iD: 0000-0002-6855-5868
2004 (English)In: IEEE Journal of Oceanic Engineering, ISSN 0364-9059, E-ISSN 1558-1691, Vol. 29, no 3, 906-915 p.Article in journal (Refereed) Published
Abstract [en]

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.
Keyword [en]
Bayesian recursive filter, correlation, linear Kalman filter, maximum-likelihood (ML) estimation, terrain navigation
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-23861DOI: 10.1109/joe.2004.833222ISI: 000224900800034Scopus ID: 2-s2.0-9244241011OAI: oai:DiVA.org:kth-23861DiVA: diva2:342560
Note
QC 20100525 QC 20111103Available from: 2010-08-10 Created: 2010-08-10 Last updated: 2017-12-12Bibliographically approved

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Jansson, Magnus

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf