Position Error Correction for an Autonomous Underwater Vehicle Inertial Navigation System (INS) Using a Particle Filter

@article{Donovan2012PositionEC,
  title={Position Error Correction for an Autonomous Underwater Vehicle Inertial Navigation System (INS) Using a Particle Filter},
  author={Glenn T. Donovan},
  journal={IEEE Journal of Oceanic Engineering},
  year={2012},
  volume={37},
  pages={431-445}
}
This paper presents comprehensive testing and analysis of a particle filter (PF) framework for real-time terrain navigation on an autonomous underwater vehicle (AUV). The goal is to obtain georeferenced localization for an AUV navigation system using reference bathymetry maps and bathymetric measurements in lieu of Global Positioning System (GPS) updates or acoustic localization methods such as long baseline (LBL). The algorithms are tested using navigation and sensor data collected during a… CONTINUE READING
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