Robust Terrain-Aided Navigation through Sensor Fusion

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Abstract

To make autonomous, affordable ships feasible in the real world, they must be capable of safely navigating without fully relying on GPS, high-resolution 3D maps, or high-performance navigation sensors. We suggest a method for estimating the position using affordable navigation sensors (compass and speed log or inertial navigation sensor), sensors used for perception of the environment (cameras, echo sounder, magnetometer), and publicly available maps (sea charts and magnetic intensity anomalies maps). A real-world field trial has shown that the proposed fusion mechanism provides accurate and robust navigation, applicable for affordable autonomous ships.
Original languageEnglish
Title of host publication23rd International Conference on Information Fusion Virtual Conference
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Electronic)978-0-578-64709-8
DOIs
Publication statusPublished - 2020 Jul 6

Subject classification (UKÄ)

  • Computer Systems

Keywords

  • Unmanned Surface Vessel
  • Terrain Navigation
  • Particle Filter
  • Localization
  • Autonomous System

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