Publication Detail

Interrogation of Geophysical Maps with Uncertainty for AUV Micro-navigation

Seamus T. Tuohy, Takashi Maekawa, Nicholas Patrikalakis
9 pp.
MITSG 96-11J
$2.00 plus 1.50 domestic/3.50 foreign shipping and handling. DOM

One of the most outstanding limitations of autonomous underwater vehicles (AUVs) is navigation in three dimensions. This paper presents high-accuracy algorithms for locating an AUV by comparing geophysical property maps (computer models) to local measurements obtained from vehicle-mounted sensors and an initial position fix. The researchers present methods for micro-navigation, which refers to fine-scale, quantitative position determination, that attempt a direct solution for position from a minimal set of measurements.

type: Technical reports

Parent Project

Project No.: 1992-RU-23
Title: Map Representation and Interrogation for Autonomous Underwater Vehicle Navigation

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