Underwater terrain navigation during realistic scenarios

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingpeer-review

2 Citations (SciVal)


Many ships today rely on Global Navigation Satellite Systems (GNSS), for their navigation, where GPS (Global Positioning System) is the most well-known. Unfortunately, the GNSS systems make the ships dependent on external systems, which can be malfunctioning, be jammed or be spoofed. There is today some proposed techniques where, e.g., bottom depth measurements are compared with known maps using Bayesian calculations, which results in a position estimation. Both maps and navigational sensor equipment are used in these techniques, most often relying on high-resolution maps, with the accuracy of the navigational sensors being less important. Instead of relying on high-resolution maps and low accuracy navigation sensors, this paper presents an implementation of the opposite, namely using low-resolution maps, but compensating this by using high-accuracy navigational sensors and fusing data from both bottom depth measurements and magnetic field measurements. A Particle Filter uses the data to estimate a position, and as a second step, a Kalman Filter enhances the accuracy even further. The algorithm has been tuned and evaluated using both a medium and a high-accuracy Inertial System. Comparisons of the various tuning methods are presented along with their performance results. The results from the simulated tests, described in this paper, show that for the high-end Inertial System, the mean position error is 10.2 m, and the maximum position error is 33.0 m during a 20 h test, which in most cases would be accurate enough to use for navigation.

Original languageEnglish
Title of host publicationMultisensor Fusion and Integration in the Wake of Big Data, Deep Learning and Cyber Physical System - An Edition of the Selected Papers from the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems MFI 2017
Number of pages24
ISBN (Print)9783319905082
Publication statusPublished - 2018 Jan 1
Event13th IEEE International Conference on Multisensor Integration and Fusion, IEEE MFI 2017 - Daegu, Korea, Republic of
Duration: 2017 Nov 162017 Nov 22

Publication series

NameLecture Notes in Electrical Engineering
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119


Conference13th IEEE International Conference on Multisensor Integration and Fusion, IEEE MFI 2017
Country/TerritoryKorea, Republic of

Subject classification (UKÄ)

  • Signal Processing


  • Kalman filter
  • Particle filter
  • Safe navigation
  • Sensor fusion


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