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Open AccessArticle

Sensor Modeling for Underwater Localization Using a Particle Filter

1
Facultad de Informática, University of Murcia, 30100 Murcia, Spain
2
Technical University of Cartagena, Campus Muralla del Mar, 30202 Cartagena, Murcia, Spain
*
Author to whom correspondence should be addressed.
Academic Editor: Enrico Meli
Sensors 2021, 21(4), 1549; https://doi.org/10.3390/s21041549
Received: 22 January 2021 / Revised: 14 February 2021 / Accepted: 16 February 2021 / Published: 23 February 2021
(This article belongs to the Special Issue Intelligent Sensing Systems for Vehicle)
This paper presents a framework for processing, modeling, and fusing underwater sensor signals to provide a reliable perception for underwater localization in structured environments. Submerged sensory information is often affected by diverse sources of uncertainty that can deteriorate the positioning and tracking. By adopting uncertain modeling and multi-sensor fusion techniques, the framework can maintain a coherent representation of the environment, filtering outliers, inconsistencies in sequential observations, and useless information for positioning purposes. We evaluate the framework using cameras and range sensors for modeling uncertain features that represent the environment around the vehicle. We locate the underwater vehicle using a Sequential Monte Carlo (SMC) method initialized from the GPS location obtained on the surface. The experimental results show that the framework provides a reliable environment representation during the underwater navigation to the localization system in real-world scenarios. Besides, they evaluate the improvement of localization compared to the position estimation using reliable dead-reckoning systems. View Full-Text
Keywords: underwater vehicle frameworks; underwater localization; uncertainty modeling; multi-sensor fusion; navigation; sonar underwater vehicle frameworks; underwater localization; uncertainty modeling; multi-sensor fusion; navigation; sonar
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MDPI and ACS Style

Martínez-Barberá, H.; Bernal-Polo, P.; Herrero-Pérez, D. Sensor Modeling for Underwater Localization Using a Particle Filter. Sensors 2021, 21, 1549. https://doi.org/10.3390/s21041549

AMA Style

Martínez-Barberá H, Bernal-Polo P, Herrero-Pérez D. Sensor Modeling for Underwater Localization Using a Particle Filter. Sensors. 2021; 21(4):1549. https://doi.org/10.3390/s21041549

Chicago/Turabian Style

Martínez-Barberá, Humberto; Bernal-Polo, Pablo; Herrero-Pérez, David. 2021. "Sensor Modeling for Underwater Localization Using a Particle Filter" Sensors 21, no. 4: 1549. https://doi.org/10.3390/s21041549

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