DocumentCode :
3384292
Title :
Robust geomagnetic aided inertial navigation of underwater vehicles using the ICP algorithm
Author :
Ejaz, Muhammad ; Iqba, Javaid ; Ahsan, N. ; Nawaz, Akhtar
Author_Institution :
Dept. of Mechatron., Nat. Univ. of Sci. & Technol., Rawalpindi, Pakistan
Volume :
1
fYear :
2009
fDate :
28-29 Nov. 2009
Firstpage :
257
Lastpage :
262
Abstract :
In this paper an algorithm is presented for positioning based on inertial navigation aided by using geomagnetic field intensity. The idea is based on matching noisy samples of geomagnetic intensities by the magnetometers and a priori geomagnetic map. The traditional Iterative Closest Point (ICP) algorithm is then applied in combination with the Inertial Navigation System (INS) to update its cumulative errors. Simulation experiments based on the actual geomagnetic reference data have also been performed for the validation of the proposed algorithm.
Keywords :
geomagnetism; inertial navigation; mobile robots; stability; underwater vehicles; geomagnetic map; iterative closest point algorithm; noisy samples matching; robust geomagnetic aided inertial navigation; underwater vehicles; Geomagnetism; Inertial navigation; Iterative algorithms; Iterative closest point algorithm; Magnetic fields; Magnetic sensors; Magnetometers; Monitoring; Robustness; Underwater vehicles; Autonomous Underwater Vehicle; Iterative Closest Point; geomagnetism; localization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computational Intelligence and Industrial Applications, 2009. PACIIA 2009. Asia-Pacific Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-4606-3
Type :
conf
DOI :
10.1109/PACIIA.2009.5406444
Filename :
5406444
Link To Document :
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