# 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…

## 8 Citations

### Robust adaptive terrain-relative navigation

- Computer Science2014 Oceans - St. John's
- 2014

The cause of false fixes using standard TRN weighting in information-poor regions is the assumption that the terrain is uncorrelated, which is an extension of work in the statistics community on robust adjusted likelihood ratios, and is used to bound the probability of large false peaks.

### Terrain‐aided Navigation for an Underwater Glider

- Environmental ScienceJ. Field Robotics
- 2015

A terrain‐aided navigation method for an underwater glider is proposed that is suitable for use in ice‐covered regions or areas with heavy ship traffic where the glider may not be able to surface for…

### Underwater Terrain-Aided Navigation Relocation Method in the Arctic

- EngineeringMathematical Problems in Engineering
- 2020

This research solves the problem of localization errors in the Arctic flat terrain in the system level and provides a solution for the application of underwater navigation inThe Arctic.

### Improvements to Terrain Aided Navigation Accuracy in Deep-Sea Space by High Precision Particle Filter initialization

- EngineeringIEEE Access
- 2020

A TAP confidence interval model is proposed that can reduce the coverage of the initial particle, and can improve the convergence speed and filtering accuracy of the TAN, and constrain the initial particles to a smaller range.

### Towards Auto-tuning of Kalman Filters for Underwater Gliders based on Consistency Metrics

- Computer ScienceOCEANS 2019 MTS/IEEE SEATTLE
- 2019

This work describes a method to automatically tune state estimation hyper-parameters used in underwater glider EKFs, that does not require ground truth estimates, and takes advantage of the normalized innovation squared (NIS) metric, which can be used inside of the objective function of various optimization methods.

### Robust particle filter formulations with application to terrain‐aided navigation

- Engineering
- 2017

The work described in this paper is motivated by the need to develop efficient and robust estimation filters with application to terrain‐aided navigation of underwater robotic vehicles. One of the…

### Return-to-site of an AUV using terrain-relative navigation: Field trials

- Environmental Science2014 IEEE/OES Autonomous Underwater Vehicles (AUV)
- 2014

This paper presents the results from recent field trials in Monterey Bay, CA which demonstrate the use of Terrain-Relative Navigation (TRN) to perform return-to-site missions using a 53cm diameter…

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