2023
DOI: 10.4031/mtsj.57.1.9
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Efficient Terrain-Aided Navigation System with Submap-Size Calculation and Embedded System

Abstract: Underwater terrain-aided navigation (TAN) holds high potential for long-term underwater accurate navigation of autonomous underwater vehicles. TAN can locate a vehicle by calculating the similarity between an a priori map and a vehicle's real-time observation consisting of a set of bathymetric measurement points. However, the amount of measurement points in the real-time observation affects both positioning accuracy and computational consumption of the TAN system, making it challenging to calculate a suitable… Show more

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