A survey on terrain based navigation for AUVs
A survey on terrain based navigation for AUVs
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.
aided navigation, surveys, autonomous vehicles, localization, underwater vehicles
Carreno, Sebastian
587db52a-3ed8-46f8-ad0b-cecb3233ff9d
Ridao, Pere
aa3e0ca6-3469-477b-ace5-e015744dabd0
Wilson, P. A.
8307fa11-5d5e-47f6-9961-9d43767afa00
Petillot, Yvan
b6bd6642-781b-4da9-9823-c6c97cae5080
15 September 2010
Carreno, Sebastian
587db52a-3ed8-46f8-ad0b-cecb3233ff9d
Ridao, Pere
aa3e0ca6-3469-477b-ace5-e015744dabd0
Wilson, P. A.
8307fa11-5d5e-47f6-9961-9d43767afa00
Petillot, Yvan
b6bd6642-781b-4da9-9823-c6c97cae5080
Carreno, Sebastian, Ridao, Pere, Wilson, P. A. and Petillot, Yvan
(2010)
A survey on terrain based navigation for AUVs.
International Federation of Automatic Control Conference on Control Systems in Marine Applications, Rostock, DE 15 - 17 Sep 2010, Rostock, Germany.
Record type:
Conference or Workshop Item
(Paper)
Abstract
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.
Text
Carreno_2010_-_A_survey__on_TBN_for_AUVs.pdf
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Published date: 15 September 2010
Venue - Dates:
International Federation of Automatic Control Conference on Control Systems in Marine Applications, Rostock, DE 15 - 17 Sep 2010, Rostock, Germany, 2010-09-15
Keywords:
aided navigation, surveys, autonomous vehicles, localization, underwater vehicles
Organisations:
Fluid Structure Interactions Group
Identifiers
Local EPrints ID: 153897
URI: http://eprints.soton.ac.uk/id/eprint/153897
PURE UUID: 5703195d-7bbc-4396-8af1-dc5ddd328bd6
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Date deposited: 25 May 2010 11:01
Last modified: 14 Mar 2024 02:33
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Contributors
Author:
Sebastian Carreno
Author:
Pere Ridao
Author:
Yvan Petillot
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