On the use of Particle Filters for Terrain Based Navigation of sensor-limited AUVs

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2013

Autores

Melo, J (Autor) Outra; Aníbal Castilho Coimbra de Matos (Autor) FEUP

Ata de Conferência Internacional

Título: 2013 MTS/IEEE OCEANS - BERGEN

MTS/IEEE OCEANS Conference

Bergen, NORWAY, JUN 10-14, 2013

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 7 Citações

Outras Informações

ID Authenticus: P-008-FMJ

DOI: 10.1109/oceans-bergen.2013.6607997

Abstract (EN): Different Terrain Based Navigation systems for underwater vehicles have already been presented, with experimentally validated results and consistent performance. However, these results are mostly based on the use of both high accuracy inertial navigation systems and high quality sonars. This article presents a study on Particle Filter algorithms that cope with peculiarities of Terrain Based Navigation for sensor limited systems. The focus is on the influence on several parameters, namely the process noise, the measurement noise and the number of the particles, and how these can improve the obtained results. Based on the results obtained by simulation, we present some conclusions relevant for the design of future implementation of the algorithms.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 8