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- Nygren, IngemarKTH,Signaler, sensorer och system (author)
Terrain navigation for underwater vehicles using the correlator method
- Article/chapterEnglish2004
Publisher, publication year, extent ...
- Institute of Electrical and Electronics Engineers (IEEE),2004
- printrdacarrier
Numbers
- LIBRIS-ID:oai:DiVA.org:kth-23861
- https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-23861URI
- https://doi.org/10.1109/joe.2004.833222DOI
Supplementary language notes
- Language:English
- Summary in:English
Part of subdatabase
- SwePubSwePub
Classification
Notes
- QC 20100525 QC 20111103
- 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.
Subject headings and genre
- TEKNIK OCH TEKNOLOGIER Elektroteknik och elektronik hsv//swe
- ENGINEERING AND TECHNOLOGY Electrical Engineering, Electronic Engineering, Information Engineering hsv//eng
- Bayesian recursive filter
- correlation
- linear Kalman filter
- maximum-likelihood (ML) estimation
- terrain navigation
Added entries (persons, corporate bodies, meetings, titles ...)
- Jansson, MagnusKTH,Signaler, sensorer och system(Swepub:kth)u1xdwtcg (author)
- KTHSignaler, sensorer och system (creator_code:org_t)
Related titles
- In:IEEE Journal of Oceanic Engineering: Institute of Electrical and Electronics Engineers (IEEE)29:3, s. 906-9150364-90591558-1691
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