Abstract
Principal Component Analysis has been recently proposed as a nonlinear positioning sensor in the development of tools for Terrain Based Navigation of Underwater Vehicles [10]. In this work the error sources affecting the proposed unsupervised methodology will be enumerated, the stochastic characterization will be studied, and the attainable performance will be discussed. Based on a series of Monte Carlo experiments for a large set of synthesized terrains, conclusions will be drawn on the adequacy of the proposed nonlinear approach.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Alcocer, A., Oliveira, P., Pascoal, A.: Study and Implementation of an EKF GIBbased Underwater Positioning System. In: IFAC Conference on Control Applications in Marine Systems CAMS 2004, Ancona, Italy (2004)
Baker, W., Clem, R.: Terrain Contour Matching (TERCOM) Primer, ASD-TR- 77-61, Aeronautical Systems Division, Wright-Patterson AFB, Ohio (August 1977) (AD B021328)
Crowley, J., Wallner, F., Sciele, B.: Position Estimation Using Principal Components of Range Data. In: Proceedings 1998 IEEE International Conference on Robotics and Automation (1998)
Hostetler, L., Andreas, R.: Nonlinear Kalman Filtering Techniques for Terrain- Aided Navigation. IEEE Transactions on Automatic Control AC-28(3) (March 1983)
Karlsson, R., Gustafsson, F.: Particle Filter for Underwater Terrain Navigation. In: 2003 IEEE Workshop on Statistical Signal Processing (September 2003)
Leonard, J., Bennett, A., Smith, C., Feder H.: Autonomous Underwater Vehicle Navigation. MIT Marine Robotics Laboratory Technical Memorandum, USA (1998)
Mertins, A.: Signal Analysis: Wavelets, Filter Banks, Time-Frequency Transforms and Applications. John Wiley & Sons, Chichester (1999)
Nygren, I., Jansson, M.: Robust Terrain Navigation with the Correlation Method for High Position Accuracy. In: OCEANS 2003 Marine Technology and Ocean Science Conference, San Diego, CA, September 2003, vol. 3 (2003)
Oliveira, P.: Periodic and Nonlinear Estimators with Applications to the Navigation of Ocean Vehicles, Ph.D. Thesis, Instituto Superior Técnico, Universidade Técnica de Lisboa (July 2002)
Oliveira, P.: Terrain Based Navigation Tools for Underwater Vehicles using Eigen Analysis. Accepted for publication in the 16th IFAC World Conference (July 2005)
Pham, D., Dahia, K., Musso, C.: A Kalman-Particle Kernel Filter and its Application to Terrain Navigation. In: Proceedings of the Sixth International Conference of Information Fusion, July 2003, vol. 2 (2003)
Sistiaga, M., Opderbecke, J., Aldon, M., Rigaud, V.: Map Based Underwater Navigation using a Multibeam Echosounder. In: OCEANS 1998 Conference Proceedings, September 1998, vol. 2 (1998)
Vickery, K.: Acoustic Positioning Systems - A Pratical Overview of Current Systems. In: Proceedings Of The 1998 Workshop on Autonomous Underwater Vehicles- AUV 1998 (August 1998)
Whitcomb, L., Yoerger, D., Singh, H.: Combined Doppler/LBL Based Navigation of Underwater Vehicles. In: 11th International Symposium on Unmanned Untethered Submersible Technology (UUST 1999), Durhan, USA (1999)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2005 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Oliveira, P. (2005). PCA Positioning Sensor Characterization for Terrain Based Navigation of UVs. In: Marques, J.S., Pérez de la Blanca, N., Pina, P. (eds) Pattern Recognition and Image Analysis. IbPRIA 2005. Lecture Notes in Computer Science, vol 3522. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11492429_74
Download citation
DOI: https://doi.org/10.1007/11492429_74
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26153-7
Online ISBN: 978-3-540-32237-5
eBook Packages: Computer ScienceComputer Science (R0)