A survey on terrain based navigation for AUVs

Carreno, Sebastian, Wilson, P.A., Ridao, Pere and Petillot, Yvan (2010) A survey on terrain based navigation for AUVs. In, OCEANS 2010 MTS/IEEE Seattle, Seattle, US, 20 - 23 Sep 2010.


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Terrain Based Navigation (TBN) is a method rooted
to the early cruise missile navigation systems, when GPS was
not yet available. For decades, TBN has been applied as a
complementary system to INS navigation for Unmanned Aerial
Vehicles (UAV). In the field of Autonomous Underwater Vehicles (AUVs), it has the potential to bound the drift inherent to dead reckoning navigation, based on INS and/or Doppler Velocity Log (DVL) sensors, as well as to make the navigation beyond the areas of coverture of the acoustic transponder networks, a reality. This paper overviews the main concepts related to TBN and present an exhaustive survey of the works reported in the literature. As a main contribution, a table comparing the motion and the measurement models, as well as the probabilistic framework used for the estimation is reported. An effort has been put on unifying the diverse nomenclature used across the surveyed works. We aim this paper to become an starting point for the researchers
interested in this technology, with pointers to the most interested works in the area.

Item Type: Conference or Workshop Item (Paper)
Related URLs:
Subjects: T Technology > TC Hydraulic engineering. Ocean engineering
T Technology > TJ Mechanical engineering and machinery
Divisions : University Structure - Pre August 2011 > School of Engineering Sciences > Fluid-Structure Interactions
ePrint ID: 162213
Accepted Date and Publication Date:
15 September 2010Published
Date Deposited: 16 Aug 2010 13:44
Last Modified: 31 Mar 2016 13:28
URI: http://eprints.soton.ac.uk/id/eprint/162213

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