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Sensors 2017, 17(4), 680;

An Effective Terrain Aided Navigation for Low-Cost Autonomous Underwater Vehicles

1,3,* , 1,3
School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
Department of Physics and Electronic Engineering, Yuncheng University, Yuncheng 044000, China
Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China
Author to whom correspondence should be addressed.
Academic Editor: José-Fernán Martínez
Received: 22 November 2016 / Revised: 15 March 2017 / Accepted: 22 March 2017 / Published: 25 March 2017
Full-Text   |   PDF [6901 KB, uploaded 25 March 2017]   |  


Terrain-aided navigation is a potentially powerful solution for obtaining submerged position fixes for autonomous underwater vehicles. The application of terrain-aided navigation with high-accuracy inertial navigation systems has demonstrated meter-level navigation accuracy in sea trials. However, available sensors may be limited depending on the type of the mission. Such limitations, especially for low-grade navigation sensors, not only degrade the accuracy of traditional navigation systems, but further impact the ability to successfully employ terrain-aided navigation. To address this problem, a tightly-coupled navigation is presented to successfully estimate the critical sensor errors by incorporating raw sensor data directly into an augmented navigation system. Furthermore, three-dimensional distance errors are calculated, providing measurement updates through the particle filter for absolute and bounded position error. The development of the terrain aided navigation system is elaborated for a vehicle equipped with a non-inertial-grade strapdown inertial navigation system, a 4-beam Doppler Velocity Log range sensor and a sonar altimeter. Using experimental data for navigation performance evaluation in areas with different terrain characteristics, the experiment results further show that the proposed method can be successfully applied to the low-cost AUVs and significantly improves navigation performance. View Full-Text
Keywords: tightly-coupled integration; terrain aided navigation; particle filter; autonomous underwater vehicle tightly-coupled integration; terrain aided navigation; particle filter; autonomous underwater vehicle

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Zhou, L.; Cheng, X.; Zhu, Y.; Dai, C.; Fu, J. An Effective Terrain Aided Navigation for Low-Cost Autonomous Underwater Vehicles. Sensors 2017, 17, 680.

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