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.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Terrain navigation for underwater vehicles using the correlator method


    Contributors:
    Nygren, I. (author) / Jansson, M. (author)

    Published in:

    Publication date :

    2004


    Size :

    10 Seiten, 23 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Terrain-relative navigation for autonomous underwater vehicles

    Di Massa, Diane E. (Diane Eugenia) | DSpace@MIT | 1997

    Free access


    Terrain-based navigation for underwater vehicles using an ultrasonic scanning system

    Lygouras, John / Kodogiannis, Vassilis / Pachidis, Theodoros et al. | Tema Archive | 2008


    Augmented Terrain-Based Navigation to Enable Persistent Autonomy for Underwater Vehicles

    Reis, Gregory Murad / Fitzpatrick, Michael / Anderson, Jacob et al. | IEEE | 2017


    Particle filter for underwater terrain navigation

    Karlsson, R. / Gustafsson, F. | Tema Archive | 2003