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GPS-free Navigation at Sea using Particle Filters
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.
2006 (English)In: Proceedings of Reglermöte 2006, 2006Conference paper, Published paper (Other academic)
Abstract [en]

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
2006.
Keyword [en]
Monte Carlo simulation, Navigation
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-34156Local ID: 20950OAI: oai:DiVA.org:liu-34156DiVA: diva2:255004
Conference
Reglermöte 2006, Stockholm, Sweden, May, 2006
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2013-02-26

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Karlsson, RickardGustafsson, Fredrik

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CiteExportLink to record
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