Towards bathymetry-optimized Doppler re-navigation for AUVs

@article{Eustice2005TowardsBD,
  title={Towards bathymetry-optimized Doppler re-navigation for AUVs},
  author={R M Eustice and Richard Camilli and Hanumant Singh},
  journal={Proceedings of OCEANS 2005 MTS/IEEE},
  year={2005},
  pages={1430-1436 Vol. 2}
}
This paper describes a terrain-aided re-navigation algorithm for autonomous underwater vehicles (AUVs) built around optimizing bottom-lock Doppler velocity log (DVL) track lines relative to a ship derived bathymetric map. The goal of this work is to improve the precision of AUV DVL-based navigation for near-seafloor science by removing the low-frequency "drift" associated with a dead-reckoned (DR) Doppler navigation methodology. To do this, we use the discrepancy between vehicle-derived vs… CONTINUE READING
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