GPS-free Navigation at Sea using Particle Filters
2006 (English)In: Proceedings of Reglermöte 2006, 2006Conference paper (Other academic)
A map-aided navigation method for positioning at sea is proposed, as a supplement to satellite navigation based on the global positioning system (GPS). The proposed Bayesian navigation method is based on information from a radar and information from databases. For the described system, the fundamental navigation performance expressed as the Cramér-Rao lower bound (CRLB) is analyzed and an analytic solution as a function of the position is derived. As a solution to the recursive Bayesian navigation problem, the particle filter is proposed. In an extensive Monte Carlo simulation performance equals a GPS system.
Place, publisher, year, edition, pages
Monte Carlo simulation, Navigation
National CategoryEngineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-34156Local ID: 20950OAI: oai:DiVA.org:liu-34156DiVA: diva2:255004
Reglermöte 2006, Stockholm, Sweden, May, 2006