Particle Filter for Underwater Terrain Navigation

  title={Particle Filter for Underwater Terrain Navigation},
  author={Rickard Karlsson and Fredrik Gustafsson},
In an earlier contribution we proposed a particle filter for underwater (UW) navigation, and applied it to an experimental trajectory. Here we focus on performance improvements and analysis. First, the Cramér Rao lower bound (CRLB) along the experimental trajectory is computed, which is only slightly lower than the particle filter estimate after initial transients. Simple rule of thumbs for how performance depends on the map and sensor quality are derived. Second, a more realistic five state… CONTINUE READING
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