Robust Terrain-Aided Navigation through Sensor Fusion
(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:
https://lup.lub.lu.se/record/c79ba006-156b-43b8-b124-90eede92a874
- author
- Lager, Mårten LU ; Topp, Elin Anna LU and Malec, Jacek LU
- organization
- publishing date
- 2020-07-06
- 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}}, }