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Particle Filter for Underwater Terrain 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.
2003 (English)Report (Other academic)
Abstract [en]

In an earlier contribution we proposed a particle filter for under water (UW) navigation, and applied it to an experimental underwater mental trajectory. Here we focus on performance improvements and analysis. First, the Cramer Rao lower bound (CRLB) along the experimental trajectory is computed, which is only slightly lower than the particle filter estimate after initial transients. Simple rule of thumbs for how performance depends on the map and sensor quality are derived. Second, a more realistic five state model is proposed, and Rao-Blackwellization is applied to decrease computational complexity. Monte-Carlo simiulations on the map demonstrate a performance comparable to the CRLB.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2003. , 7 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2530
Keyword [en]
Particle filter, Underwater navigation, Cramér Rao lower bound
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55950ISRN: LiTH-ISY-R-2530OAI: oai:DiVA.org:liu-55950DiVA: diva2:316788
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-08-12Bibliographically approved

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Karlsson, RickardGustafsson, Fredrik

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CiteExportLink to record
Permanent link

Direct link
Cite
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