Robust Terrain Navigation with the Correlation Method for High Position Accuracy
2003 (English)In: OCEANS 2003 Marine Technology and Ocean Science Conference, IEEE , 2003, 1269-1277 p.Conference paper (Refereed)
Describes the correlation method for determining the position of an autonomous underwater vehicle (AUV) in shallow waters. The method is conceptually simple. It involves measuring the seabed topography with a few sonar pings over a limited area by an ordinary bathymetric multibeam sonar. These measurements are then correlated with existing underwater maps. The position estimate from the correlation method can often be used as it is or fused by a linear Kalman filter with almost optimal performance. The paper also shows results from a sea-trial with the Reson SeaBat 8001 multibeam bathymetric sonar. The achieved 1/spl sigma/-circular accuracy is 0.3-0.4 metre in the north of the Baltic Sea.
Place, publisher, year, edition, pages
IEEE , 2003. 1269-1277 p.
Correlation, Filters, Maximum likelihood estimation, Robustness, Sampling methods, Sea measurements, Sonar measurements, Sonar navigation, Surfaces, Underwater vehicles
IdentifiersURN: urn:nbn:se:kth:diva-82675DOI: 10.1109/OCEANS.2003.178035OAI: oai:DiVA.org:kth-82675DiVA: diva2:498499
OCEANS 2003 Marine Technology and Ocean Science Conference San Diego, CA, Sep 22-26, 2003
NR 201408052012-02-122012-02-122012-02-12Bibliographically approved