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    Magnetic navigation and tracking of underwater vehicles

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    CAMS_2013_239.pdf (158.6Kb)
    Date
    2013
    Author
    Teixeira, F.C.
    Pascoal, A.M.
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    Abstract
    This paper proposes novel methods with the potential to improve the performance of navigation and tracking systems in underwater environments. The work relies on well-established methods of potential field inversion and introduces a new analytic formulation designed to stabilize the solution of the inverse problem in real-time applications. The navigation method proposed exploits the terrain information associated with geomagnetic field anomalies, without the need of a priori maps. The procedure can also be applied to track a moving vah iclebased on its associated disturbance of the environmental magnetic field. We envision the integration of theses methods in terrain-aided navigation systems, simultaneous localization and mapping algorithms, and tracking applications
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    http://drs.nio.org/drs/handle/2264/4609
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