A Terrain-Aided Tracking Algorithm for Marine Systems
A Terrain-Aided Tracking Algorithm for Marine Systems
复制标题
海洋系统地形辅助跟踪算法
DOI：
10.1007/10991459_10
复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
I. Mahon
中科院分区：
文献类型：
--
作者：
Stefan B. Williams;I. Mahon
摘要：本文提出了一种将非结构化自然地形信息融入水下航行器跟踪过程的新方法。地形辅助导航有望彻底改变海洋系统在深水应用中跟踪水下物体的能力。这项工作代表了开发能够长期可靠部署的水下技术的关键一步。基于粒子的估计器用于使用先验地图信息将高度观测合并到估计过程中。显示了将该技术应用于跟踪被拖体和在悉尼港运行的船舶的结果。
AbstractThis 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.