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Erschienen in:
2006 | OriginalPaper | Buchkapitel
A Terrain-Aided Tracking Algorithm for Marine Systems
verfasst von : Stefan Williams, Ian Mahon
Erschienen in: Field and Service Robotics
Verlag: Springer Berlin Heidelberg
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This paper presents a novel method for incorporating unstructured, natural terrain information into the process of tracking of underwater vehicles. Terrain-aided navigation promises to revolutionise the ability of marine systems to track underwater bodies in deepwater applications. This work represents a crucial step in the development of underwater technologies capable of long-term, reliable deployment. A particle based estimator is used to incorporate observations of altitude into the estimation process using a priori map information. Results of the application of this technique to the tracking of a towed body and a ship operating in Sydney Harbour are shown.