Terrain aided navigation for autonomous underwater vehicle

Author

Xiaolong Chen ; Ye Li

Author_Institution

State Key Lab. of Autonomous Underwater Vehicle, Harbin Eng. Univ., Harbin, China

Volume

3

fYear

2011

fDate

26-28 July 2011

Firstpage

1785

Lastpage

1789

Abstract

As a means of aiding navigation of underwater, terrain matching technology has been proved to be promising for autonomous underwater vehicles. With the measurement depths data obtained from multi-beam sonar, a method based on Bayesian estimation algorithm is proposed in this paper. The selection of suitable matching field based on terrain entropy is described here and which is helpful for choosing way point where to do the position fixing. The result of simulation shows that the method is robust and has perfect performance for underwater navigation.

Keywords

Bayes methods; parameter estimation; path planning; remotely operated vehicles; sonar; underwater vehicles; Bayesian estimation algorithm; autonomous underwater vehicle; multibeam sonar; terrain aided navigation; terrain entropy; terrain matching technology; underwater navigation; Bayesian methods; Noise measurement; Position measurement; Sea measurements; Sonar; Sonar navigation; Autonomous underwater vehicle; Bayesian estimation; Multi-beam sonar; Terrain entropy;

fLanguage

English

Publisher

ieee

Conference_Titel

Natural Computation (ICNC), 2011 Seventh International Conference on

Conference_Location

Shanghai

ISSN

2157-9555

Print_ISBN

978-1-4244-9950-2

Type

conf

DOI

10.1109/ICNC.2011.6022369

Filename

6022369