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Particle Filtering and Cramér-Rao Lower Bound for Underwater Navigation
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Saab Bofors Underwater Systems, Sweden.
2003 (English)In: Proceedings of the 2003 IEEE Conference on Acoustics, Speech and Signal Processing, 2003, 65-68 vol.6 p.Conference paper, Published paper (Refereed)
Abstract [en]

We have studied a sea navigation method relying on a digital underwater terrain map and sonar measurements. The method is applicable for both ships and underwater vessels. We have used experimental data to build an underwater map and to investigate the estimation performance. Since the problem is non-linear, due to the measurement relation, we apply a sequential Monte Carlo method, or particle filter, for the state estimation. The fundamental limitations in navigation uncertainty can be described in terms of the Cramér-Rao lower bound, which is interpreted in terms of the inertial navigation system (INS) error, the sensor accuracy and the terrain map excitation. Hence, the Cramér-Rao lower bound can be interpreted and used in design for INS systems, sensor performance or if these are given, how much terrain or depth excitation that is needed for use in positioning and navigation.

Place, publisher, year, edition, pages
2003. 65-68 vol.6 p.
Keyword [en]
Inertial navigation system, Cramér-Rao lower bound, Monte Carlo methods, Nonlinear filters
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-29615DOI: 10.1109/ICASSP.2003.1201619Local ID: 14994ISBN: 0-7803-7663-3 (print)OAI: oai:DiVA.org:liu-29615DiVA: diva2:250432
Conference
2003 IEEE Conference on Acoustics, Speech and Signal Processing, Hong Kong, China, April, 2003
Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2013-03-29

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Karlsson, RickardGustafsson, Fredrik

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf