Terrain-Aided Navigation With Coarse Maps-Toward an Arctic Crossing With an AUV

• Published in: IEEE journal of oceanic engineering Vol. 46; no. 4; pp. 1192 - 1212
• Main Authors: Salavasidis, Georgios, Munafo, Andrea, McPhail, Stephen, Harris, Catherine A., Fenucci, Davide, Pebody, Miles, Rogers, Eric, Phillips, Alexander B.
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.10.2021; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Arctic; Autonomous underwater vehicles; Bathymetry; Depth measurement; Global positioning systems; GPS; Interpolation; Long-range autonomous underwater vehicles (AUVs); Navigation; Oceans; polar vehicle operations; Real-time systems; Satellite navigation systems; Sea ice; Sea measurements; Sensors; Sonar navigation; Terrain; Terrain referenced navigation; terrain-aided navigation (TAN); Uncertainty; under-ice navigation; underwater navigation; Underwater vehicles; Water circulation; Work platforms; Arctic region

The desire to conduct research in the Arctic on an ever-larger spatiotemporal scale has led to the development of long-range autonomous underwater vehicles (AUVs), such as the Autosub Long-Range 1500 (ALR1500). While these platforms open up a world of new applications, their actual use is limited in...