Terrain Aided Underwater Navigation Using Point Mass and Particle Filters

@article{Anonsen2006TerrainAU,
  title={Terrain Aided Underwater Navigation Using Point Mass and Particle Filters},
  author={K. B. Anonsen and Oddvar Hallingstad},
  journal={2006 IEEE/ION Position, Location, And Navigation Symposium},
  year={2006},
  pages={1027-1035}
}
This paper focuses on obtaining submerged position fixes for underwater vehicles from comparing bathymetric measurements 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, namely… CONTINUE READING

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