文章基本信息

标题：AUV Terrain-Aided Navigation using a Doppler Velocity Logger ★
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作者：Francisco Curado Teixeira ; João Quintas ; António Pascoal 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：2
页码：137-142
DOI：10.1016/j.ifacol.2015.06.022
语种：English
出版社：Elsevier
摘要：AbstractThe potential of terrain-aided navigation (TAN) of autonomous underwater vehicles (AUVs) has been demonstrated in the last ten years in a series of trials where high localization accuracy was obtained during long periods of time in different types of terrain. Despite these recent advances, it is recognized by the navigation community that further research is necessary to transform TAN into a mature navigation methodology. The present paper describes the work developed towards the development of terrain navigation methods for small AUVs, relying on standard navigation sensors and dispensing with the need of dedicated sensors for terrain data acquisition. The research described addresses the problem of implementation of terrain navigation in underwater scenarios characterized by smooth sea-bottom topography and very shallow water, where the terrain information available for navigation is scarce. The TAN algorithms and the data fusion methods whose tests are documented in the paper build upon prior theoretical work published by the authors. The experimental results reported were obtained recently through trials in the water performed with an autonomous surface vehicle acting as a proxy to an AUV.
关键词：KeywordsParticle filterscomplementary filteringDoppler-based navigationterrain-aided navigation