title: An Effective Terrain Aided Navigation for Low-Cost Autonomous Underwater Vehicles.
abstract: 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.
authors.affiliation: School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. s03031212@126.com.|Department of Physics and Electronic Engineering, Yuncheng University, Yuncheng 044000, China. s03031212@126.com.|Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China. s03031212@126.com.
authors.forename: Ling
authors.initials: L
authors.lastname: Zhou
authors.affiliation: School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. xhcheng@seu.edu.cn.|Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China. xhcheng@seu.edu.cn.
authors.forename: Xianghong
authors.initials: X
authors.lastname: Cheng
authors.affiliation: School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. zhuyixian911@163.com.|Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China. zhuyixian911@163.com.
authors.forename: Yixian
authors.initials: Y
authors.lastname: Zhu
authors.affiliation: School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. skyype@163.com.|Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing 210096, China. skyype@163.com.
authors.forename: Chenxi
authors.initials: C
authors.lastname: Dai
authors.affiliation: School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China. fjb@seu.edu.cn.
authors.forename: Jinbo
authors.initials: J
authors.lastname: Fu
keywords: autonomous underwater vehicle; particle filter; terrain aided navigation; tightly-coupled integration