The University of Southampton
University of Southampton Institutional Repository

A survey on terrain based navigation for AUVs

Record type: Conference or Workshop Item (Paper)

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 eld 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.

PDF Carreno_2010_-_A_survey__on_TBN_for_AUVs.pdf - Other
Download (1MB)

Citation

Carreno, Sebastian, Ridao, Pere, Wilson, P. A. and Petillot, Yvan (2010) A survey on terrain based navigation for AUVs At International Federation of Automatic Control Conference on Control Systems in Marine Applications, Rostock, DE 15 - 17 Sep 2010, Germany.

More information

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, 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
ORCID for P. A. Wilson: ORCID iD orcid.org/0000-0002-6939-682X

Catalogue record

Date deposited: 25 May 2010 11:01
Last modified: 18 Jul 2017 12:47

Export record

Contributors

Author: Sebastian Carreno
Author: Pere Ridao
Author: P. A. Wilson ORCID iD
Author: Yvan Petillot

University divisions

Download statistics

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics

Atom RSS 1.0 RSS 2.0

Contact ePrints Soton: eprints@soton.ac.uk

ePrints Soton supports OAI 2.0 with a base URL of http://eprints.soton.ac.uk/cgi/oai2

This repository has been built using EPrints software, developed at the University of Southampton, but available to everyone to use.

We use cookies to ensure that we give you the best experience on our website. If you continue without changing your settings, we will assume that you are happy to receive cookies on the University of Southampton website.

×