Abstract
This paper presents a novel method for incorporating unstructured, natural terrain information into the process of tracking of underwater vehicles. Terrain-aided navigation promises to revolutionise the ability of marine systems to track underwater bodies in deepwater applications. This work represents a crucial step in the development of underwater technologies capable of long-term, reliable deployment. A particle based estimator is used to incorporate observations of altitude into the estimation process using a priori map information. Results of the application of this technique to the tracking of a towed body and a ship operating in Sydney Harbour are shown.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 2006 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Williams, S., Mahon, I. (2006). A Terrain-Aided Tracking Algorithm for Marine Systems. In: Yuta, S., Asama, H., Prassler, E., Tsubouchi, T., Thrun, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 24. Springer, Berlin, Heidelberg. https://doi.org/10.1007/10991459_10
Download citation
DOI: https://doi.org/10.1007/10991459_10
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-32801-8
Online ISBN: 978-3-540-32854-4
eBook Packages: EngineeringEngineering (R0)