Robust surface vessel navigation using terrain navigation

Hagen, Ove Kent; Ånonsen, Kjetil Bergh; Skaugen, Atle

doi:10.1109/oceans-bergen.2013.6608055

Cited by 6 publications

(3 citation statements)

References 11 publications

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“…We compare the quantitative method proposed in this article with the two commonly used terrain adaptation quantization methods (topographic entropy and topographic standard deviation). 10,18,19 The expressions of topographic entropy and topographic standard deviation are as follows: In the equation, the number of nodes that measure the terrain is m Â n and, ði; jÞ is the index number that represents the measurement of a topographic node.…”

Section: Comparison Of Commonly Quantitative Parametersmentioning

confidence: 99%

Section: Trp Comparison and Analysis Of Suitability Blockmentioning

confidence: 99%

“…1,2 However, there are some disadvantages associated with TRN, such as large errors in terrain measurement, fewer terrain features, and the lower acquisition speed of the measurement data, which always cause large position deviation. 1 At present, the research on improving the TRN/terrain reference position (TRP) accuracy mainly focuses on the filtering algorithm, including particle filter (PF), 1,3 –6 robust filtering algorithm, 7,8 –10 point mass filter (PMF), 5,11,12 and so on. The latest research progress on TRN can be referred to the review article.…”

Section: Introductionmentioning

confidence: 99%

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Underwater digital elevation map gridding method based on optimal partition of suitable matching area

Wang

et al. 2019

International Journal of Advanced Robotic Systems

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Global positioning system signal does not penetrate into the water volume, and autonomous underwater vehicle have to use the inertial navigation system that will cause an inevitable cumulative error. Terrain reference position can zero out the inertial navigation system error and have been widely used. To improve the positioning accuracy, the planning path of the underwater robot is required to pass through the suitable matching areas in the path planning stage. So, a gridding map is needed to quantify the suitability of the terrain and to partition the suitable matching area and the unsuitable matching area optimally. In this article, we will focus on the quantitative method of terrain suitability and the grid parameter solution method for optimal partition of suitable matching area. Finally, the validity of the algorithm is obtained using the ship borne data. The results show that in the low suitability blocks, the influence of measurement error on terrain reference position accuracy is higher than that in high suitability blocks. And the average of terrain reference position deviation obtained of the path passed through the high suitability area is 53.3% which is lower than that of the path passed through the low suitability area, and the standard deviation of the position deviation is reduced by 21.15%.

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Section: Comparison Of Commonly Quantitative Parametersmentioning

confidence: 99%