Practical Evaluation of EKF1 and UKF2 Filters for Terrain Aided Navigation

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 ...

Highway Evaluation of Terrain-aided Localization Using Particle Filters

This work evaluates a real-time algorithm to localize a vehicle on a highway in the direction of travel without the use of GPS. The algorithm uses a particle filter to estimate vehicle position along a map of road grade using real-time pitch measurements from an in-vehicle pitch sensor as the input. Experiments over 60 kilometers along Interstate I-80 and US Route 220 in Pennsylvania are used t...

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 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...

Adaptive Sensing for Terrain Aided Navigation

This paper demonstrates experiments for performing adaptive terrain aided navigation in the context of autonomous underwater vehicles (AUVs) equipped with sonar. The experiments were conducted using a 675 kHz sector scan sonar mounted on a planar robotic positioning system in a 3.0 by 9.0 by 1.0 meter testing tank, enabling controlled and repeatable scenarios. The objective of the adaptive stoc...

Terrain Aided Underwater Navigation using Bayesian Statistics