• Corpus ID: 29681717

A ROBUST FRAMEWORK FOR FAILURE DETECTION AND RECOVERY FOR TERRAIN-RELATIVE NAVIGATION

@inproceedings{Houts2013ARF,
  title={A ROBUST FRAMEWORK FOR FAILURE DETECTION AND RECOVERY FOR TERRAIN-RELATIVE NAVIGATION},
  author={Sarah E. Houts},
  year={2013}
}
Terrain-Relative Navigation (TRN) is an emerging technology used for localization of autonomous underwater vehicles (AUVs). TRN provides a map-relative position estimate for vehicle navigation, and has been demonstrated with meterlevel accuracy. However, in adverse conditions, such as operating over areas of terrain change (i.e. mass transport events) or artifacts of the map-generation process, a TRN filter can become lost in the incorrect map, yielding bad position estimates. These conditions… 

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