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