Interferometric Enabled Particle Filter for Underwater Navigation
- Resource Type
- Conference
- Authors
- Wilbur, JoEllen; Romaine, Peter; Fuller, Nathan; Sternlicht, Daniel
- Source
- OCEANS 2022, Hampton Roads OCEANS Hampton Roads, 2022. :1-6 Oct, 2022
- Subject
- Communication, Networking and Broadcast Technologies
Geoscience
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Roads
Oceans
Sonar measurements
Sea measurements
Position measurement
Sonar navigation
Particle measurements
particle filter
bathymetry
navigation
UTAN
- Language
Underwater terrain-aided navigation (UTAN) provides a method for drift mitigation in Global Navigation Satellite System (GNSS)-denied environments. The use of a particle filter enables continuous positional error correction to a vehicle’s inertial navigation system (INS) through reference to a stored map. In this paper we explore the application of an interferometric forward look sonar (FLS) to create a geophysical position reference for the measurement process in the particle filer. We document and provide results related to in water interferometric analysis, particle filter development within a loosely coupled simulator environment, and platform integration accompanied by objective real-time operational capability. Hardware and software components were developed with a focus on system modularity.