Underwater Terrain Navigation Using Standard Sea Charts and Magnetic Field Maps

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

6 Citations (SciVal)

Abstract

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 are 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. The results from the simulated tests, described in this paper, show that the position error is below 25m throughout the whole test, and that the mean of the error is below 13m, which in most cases would be accurate enough to use for navigation.
Translated title of the contributionTerrängnavigering i undervattensläge genom att använda standardsjökort och magnetkartor
Original languageEnglish
Title of host publication2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)
Place of PublicationDaegu, South Korea
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Electronic)978-1-5090-6064-1
ISBN (Print)978-1-5090-6063-4
DOIs
Publication statusPublished - 2017 Dec 11
EventIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017) - EXCO Convention Center, Daegu, Korea, Republic of
Duration: 2017 Nov 162017 Nov 18

Conference

ConferenceIEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI 2017)
Country/TerritoryKorea, Republic of
CityDaegu
Period2017/11/162017/11/18

Subject classification (UKÄ)

  • Other Computer and Information Science

Keywords

  • Terrain Navigation
  • Particle Filter
  • positioning
  • AUV
  • Kalman Filter

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