Analysis of terrain navigability in underwater terrain aided navigation

Using Sonar in Terrain-Aided Underwater Navigation

Using Sonar in Terrain-Aided Underwater Navigation P.Newman H.Durrant-Whyte Department of Mechatronics University of Sydney, NSW. 2006, Australia e-mail pauln/hugh@mech,eng.usyd.edu.au In many ways autonomous navigation of underwater vehicles is a ‘holy grail’ of subsea robotics. For an AUV to continually estimate its pose (position and orientation) and operate within an initially unknown envir...

Towards terrain-aided navigation for underwater robotics

This paper describes an approach to autonomous navigation for an undersea vehicle that uses information from a scanning sonar to generate navigation estimates based on a simultaneous localization and mapping algorithm. Development of low-speed platform models for vehicle control and the theoretical and practical details of mapping and position estimation using sonar are provided. An implementat...

Terrain Aided Underwater Navigation using Bayesian Statistics

Terrain-aided Navigation for an Underwater Glider

A terrain-aided navigation method for an underwater glider is proposed that is suitable for use in ice-covered regions or areas with heavy ship traffic where the glider may not be able to surface for GPS location updates. The algorithm is based on a jittered bootstrap algorithm, which is a type of particle filter that makes use of the vehicle’s dead-reckoned navigation solution, onboard altimet...

Terrain aided navigation

In many autonomous underwater vehicle (AUV) applications, a basic problem is to determine the AUV's position accurately. Terrain aided navigation, which supports the existing inertial navigation system with terrain information, is a promising method. In this thesis, the Kalman filter and the Bayesian approach implemented as point mass filter are used in terrain aided navigation. To formulate a ...