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Using the Particle Filter as Mitigation to GPS Vulnerability for Navigation at Sea
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.
2005 (English)Report (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
Linköping: Linköping University Electronic Press, 2005. , 6 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2699
Keyword [en]
Sea navigation, Particle filter, Cramér-Rao lower bound
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-56036ISRN: LiTH-ISY-R-2699OAI: oai:DiVA.org:liu-56036DiVA: diva2:316906
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