Terrain Aided Underwater Navigation Using Point Mass and Particle Filters

  title={Terrain Aided Underwater Navigation Using Point Mass and Particle Filters},
  author={K. B. Anonsen and O. Hallingstad},
  journal={2006 IEEE/ION Position, Location, And Navigation Symposium},
  • K.B. Anonsen, O. Hallingstad
  • Published 2006
  • Engineering
  • 2006 IEEE/ION Position, Location, And Navigation Symposium
  • This paper focuses on obtaining submerged position fixes for underwater vehicles from comparing bathymetric mea- surements with a bathymetric map. Our algorithms are tested on real data, collected by a HUGIN AUV equipped with a multibeam echo sounder (MBE). Due to our strongly non-linear and non-Gaussian problem, local linearization methods such as the extended Kalman filter (EKF), has proven unsuitable in many terrain types. We therefore focus on two different recursive Bayesian methods… CONTINUE READING
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