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PPT : Minimizing Trilateration Errors in the Presence of Uncertain Landmark Positions

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Motivation: Underwater Navigation

* No GPS, except when surfacing
* Low feature density (!)
* Low resolution sensor (SONAR)
* Low dead-reckoningperformance inopen ocean

Acoustic Communication and Ranging

* Acoustic modem (Woods Hole Oceanographic Institution):
o Maximum range: 200 m – 8 km
o Maximum data rate: 3 bytes/s – 1 kByte/s
o 1 Channel (no FDMA scheme possible)
o Range estimate between transmitting and receiving vehicle through globally synchronized modems (Pulse Per Second signal)

Optimal Trilateration Position
Circular Error Probability (CEP)
Looking for the optimal trilateration position

Knowing enables us to:

1.) compute a new quality metric

Similar to Geometric Dilution of Precision (GDOP), BUT taking uncertain landmarks into account

2.) use and as part of the cost function for path planning

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PPT : Minimizing Trilateration Errors in the Presence of Uncertain Landmark Positions Category : Mechanical
Source : mercator.csail.mit.edu
File Size : 2.89 Mb
Language : English
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