Interrogation of geophysical maps with uncertainty for AUV micro-navigation

S. T. Tuohy*, T. Maekawa, N. M. Patrikalakis


研究成果: Conference contribution

2 被引用数 (Scopus)


This paper presents high-accuracy algorithms for localization of a small autonomous underwater vehicle by comparing geophysical property maps (computer models) to local measurements obtained from vehicle-mounted sensors and an initial position fix. In this paper, we 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, using techniques from computational geometry. Each absolute or differential sensor measurement defines one or more contour lines on the stored geophysical maps along which the vehicle may be located. The contours are found from efficient and robust computation of the real solutions of non-linear interval polynomial systems of equations. A technique for such solutions based on convex hull properties, Bernstein subdivision and interval arithmetic is described in the paper.

ホスト出版物のタイトルProc Conf Oceans 93
出版社Publ by IEEE
出版ステータスPublished - 1993 12月 1
イベントProceedings of the Conference on Oceans '93. Part 1 (of 3) - Victoria, BC, Can
継続期間: 1993 10月 181993 10月 21


名前Proc Conf Oceans 93


ConferenceProceedings of the Conference on Oceans '93. Part 1 (of 3)
CityVictoria, BC, Can

ASJC Scopus subject areas

  • 工学(全般)


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