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Robust Terrain-Aided Navigation through Sensor Fusion

Lager, Mårten LU ; Topp, Elin Anna LU orcid and Malec, Jacek LU orcid (2020)
Abstract
To make autonomous, affordable ships feasible in the real world, they must be capable of safely navigating without fully relying on GPS, high-resolution 3D maps, or high-performance navigation sensors. We suggest a method for estimating the position using affordable navigation sensors (compass and speed log or inertial navigation sensor), sensors used for perception of the environment (cameras, echo sounder, magnetometer), and publicly available maps (sea charts and magnetic intensity anomalies maps). A real-world field trial has shown that the proposed fusion mechanism provides accurate and robust navigation, applicable for affordable autonomous ships.
Please use this url to cite or link to this publication:
author
; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
Unmanned Surface Vessel, Terrain Navigation, Particle Filter, Localization, Autonomous System
host publication
23rd International Conference on Information Fusion Virtual Conference
pages
8 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • scopus:85092746229
ISBN
978-0-578-64709-8
DOI
10.23919/FUSION45008.2020.9190578
project
RobotLab LTH
Digital Cognitive Companion for Marine Vessels
language
English
LU publication?
yes
id
c79ba006-156b-43b8-b124-90eede92a874
date added to LUP
2020-05-12 15:02:51
date last changed
2023-04-10 13:05:56
@inproceedings{c79ba006-156b-43b8-b124-90eede92a874,
  abstract     = {{To make autonomous, affordable ships feasible in the real world, they must be capable of safely navigating without fully relying on GPS, high-resolution 3D maps, or high-performance navigation sensors. We suggest a method for estimating the position using affordable navigation sensors (compass and speed log or inertial navigation sensor), sensors used for perception of the environment (cameras, echo sounder, magnetometer), and publicly available maps (sea charts and magnetic intensity anomalies maps). A real-world field trial has shown that the proposed fusion mechanism provides accurate and robust navigation, applicable for affordable autonomous ships.}},
  author       = {{Lager, Mårten and Topp, Elin Anna and Malec, Jacek}},
  booktitle    = {{23rd International Conference on Information Fusion Virtual Conference}},
  isbn         = {{978-0-578-64709-8}},
  keywords     = {{Unmanned Surface Vessel; Terrain Navigation; Particle Filter; Localization; Autonomous System}},
  language     = {{eng}},
  month        = {{07}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Robust Terrain-Aided Navigation through Sensor Fusion}},
  url          = {{https://lup.lub.lu.se/search/files/79728577/Fusion2020_Robust_Terrain_Aided_Navigation_through_Sensor_Fusion_Final.pdf}},
  doi          = {{10.23919/FUSION45008.2020.9190578}},
  year         = {{2020}},
}