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. © Springer-Verlag Berlin Heidelberg 2006.
CITATION STYLE
Williams, S., & Mahon, I. (2006). A terrain-aided tracking algorithm for marine systems. Springer Tracts in Advanced Robotics, 24, 93–102. https://doi.org/10.1007/10991459_10
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