The HUGIN real-time terrain navigation system

Hagen, Ove Kent; Ånonsen, Kjetil Bergh; Mandt, Magne

doi:10.1109/oceans.2010.5664579

Cited by 35 publications

(17 citation statements)

References 5 publications

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“…Nygren has demonstrated that using larger numbers of measurement beams from several pings will get better performance, and the correlation curve will converge to Gaussian [5][6][7]. The terrain navigation method has also been applied on HUGIN AUVs, which has achieved terrain navigation for real-time [8][9][10]. But all these methods require sufficient variability of terrain, which is not common in relative shallow water.…”

Section: Methods Of Terrain Matching Navigationmentioning

confidence: 99%

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Underwater Terrain Navigation Based on Improved Bayesian Estimation

Chen

Pang

et al. 2012

2012 Third International Conference on Digital Manufacturing &Amp; Automation

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An underwater terrain navigation method based on Bayesian estimation is proposed for autonomous underwater vehicle (AUV), according to the depths measured by multi-beam echo sounder (MBES). For the shortage of false peak increasing intensely at low characteristic area of this method, the Fisher criterion is introduced. This method effectively reduces the false peaks, enhances the discrimination of the flat area, and has good robustness for initial positioning error. The positioning result of simulation shows that the method can be an efficient and feasible tool for AUV navigation.

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Section: Methods Of Terrain Matching Navigationmentioning

confidence: 99%

“…, , r r y a x y a x y a x c c c " (10) instead of the original p variables 1 2 , , p x x x " , in order to achieve the purpose of dimensionality reduction, according to the r discriminant 1 2 , , r y y y " judge samples attribution.…”

Section: B Fisher Criterion Principlementioning

confidence: 99%

Underwater Terrain Navigation Based on Improved Bayesian Estimation

Chen

Pang

et al. 2012

2012 Third International Conference on Digital Manufacturing &Amp; Automation

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“…The algorithm used in the HUGIN terrain navigation system [3] is based on the point mass filter (PMF). PMF is a nonlinear Bayesian estimator that estimates the probability density function (PDF) of the state vector on a grid [9] [10].…”

Section: Point Mass Filtermentioning

confidence: 99%

“…Terrain navigation has in recent years been established as a solution for real-time subsurface position updates of the inertial navigation systems on board Autonomous Underwater Vehicles (AUVs) [3], [4], [5], [6]. A major advantage is that terrain navigation provides global position estimates, where the accuracy is independent on the duration of the GPS jamming period.…”

Section: Introductionmentioning

confidence: 99%

Robust surface vessel navigation using terrain navigation

Hagen

Ånonsen

Skaugen

2013

2013 MTS/IEEE OCEANS - Bergen

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Terrain navigation has been used extensively by underwater vehicles the last decade. By comparing bathymetric measurements with a digital terrain model, it estimates a global position of the vehicle underwater, where Global Positioning System (GPS) signals are unavailable. With the increasing threat of GPS signal jammers and spoofers to marine vessels, GPS independent techniques are becoming more interesting for surface vessels as well. This paper explores the idea of using terrain navigation to detect GPS spoofing, and as a substitute position source during GPS jamming. The results from an experiment simulating GPS jamming of a surface vessel indicate the feasibility of such a system.

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“…A commercial version of a terrain navigation solution with the ability to exploit the altitude measurements provided by a multibeam echo-sounder (MBE) or alternatively by a Doppler velocity logger (DVL) has been delivered recently; see Anonsen et al (2013). The TAN module is integrated with the DVL-aided navigation system of the Hugin AUV which includes a state-of-the-art inertial measurement unit (IMU) and a high-grade DVL, see Hagen et al (2010). All the above mentioned navigation systems rely primarily on navigation-grade INS and top quality swath sonar instrumentation that contribute to make them too expensive.…”

mentioning

confidence: 99%

AUV Terrain-Aided Navigation using a Doppler Velocity Logger★

Teixeira¹,

Quintas²,

Pascoal³

2015

IFAC-PapersOnLine

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The potential of terrain-aided navigation (TAN) of autonomous underwater vehicles (AUVs) has been demonstrated in the last ten years in a series of trials where high localization accuracy was obtained during long periods of time in different types of terrain. Despite these recent advances, it is recognized by the navigation community that further research is necessary to transform TAN into a mature navigation methodology. The present paper describes the work developed towards the development of terrain navigation methods for small AUVs, relying on standard navigation sensors and dispensing with the need of dedicated sensors for terrain data acquisition. The research described addresses the problem of implementation of terrain navigation in underwater scenarios characterized by smooth sea-bottom topography and very shallow water, where the terrain information available for navigation is scarce. The TAN algorithms and the data fusion methods whose tests are documented in the paper build upon prior theoretical work published by the authors. The experimental results reported were obtained recently through trials in the water performed with an autonomous surface vehicle acting as a proxy to an AUV.

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The HUGIN real-time terrain navigation system

Cited by 35 publications

References 5 publications

Underwater Terrain Navigation Based on Improved Bayesian Estimation

Underwater Terrain Navigation Based on Improved Bayesian Estimation

Robust surface vessel navigation using terrain navigation

AUV Terrain-Aided Navigation using a Doppler Velocity Logger★

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