Underwater Terrain-Aided Navigation Relocation Method in the Arctic

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Parameters</td><td class="align_center">Value</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left">AUV velocity</td><td class="align_center">0.5 m/s</td></tr><tr><td class="align_left">Map resolution</td><td class="align_center">500 m</td></tr><tr><td class="align_left">Running depth</td><td class="align_center">0 m</td></tr><tr><td class="align_left">PF update frequency</td><td class="align_center">1 Hz</td></tr><tr><td class="align_left">Current disturbance <svg height="12.7178pt" id="M56" style="vertical-align:-3.42947pt" version="1.1" viewbox="-0.0498162 -9.28833 42.7038 12.7178" width="42.7038pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 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transform="matrix(.013,0,0,-0.013,30.425,0)"><path d="M556 393C556 426 537 448 514 448C496 448 478 435 471 420C468 414 462 401 466 394C473 382 480 368 480 346C480 268 392 143 338 67H336C329 163 319 253 309 330S286 448 254 448C215 448 160 383 127 337L143 311C167 344 200 373 208 373S222 365 229 320C246 214 264 66 268 -20C219 -83 131 -171 17 -239L25 -261L137 -235C248 -110 273 -79 335 8C384 77 481 215 520 287C544 332 556 363 556 393Z"></path></g><g transform="matrix(.013,0,0,-0.013,37.955,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g></svg></td><td class="align_center">(0,0.1 m/s)</td></tr><tr><td class="align_left">Body noise <svg height="12.5794pt" id="M57" style="vertical-align:-3.29107pt" version="1.1" viewbox="-0.0498162 -9.28833 68.4397 12.5794" width="68.4397pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M300 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22C152 22 124 173 124 313S148 602 238 602Z"></path></g><g transform="matrix(.013,0,0,-0.013,84.979,0)"><path d="M113 -12C146 -12 170 11 170 46C170 78 146 103 114 103S58 78 58 46C58 11 82 -12 113 -12Z"></path></g><g transform="matrix(.013,0,0,-0.013,87.943,0)"><path d="M384 0V27C293 34 287 42 287 114V635C232 613 172 594 109 583V559L157 557C201 555 205 550 205 499V114C205 42 199 34 109 27V0H384Z"></path></g><g transform="matrix(.013,0,0,-0.013,94.183,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g></svg></span></td></tr><tr><td class="align_left">Process noise</td><td class="align_center">6 m</td></tr><tr><td class="align_left">Measurement noise</td><td class="align_center">5 m</td></tr><tr><td class="align_left">Particle numbers</td><td class="align_center">1000</td></tr><tr><td class="align_left">Initial attitude</td><td class="align_center">(200 km, 100 km, 180°)(rough area), (500 km, 100 km, 180°)(flat area), and (290 km, 85 km, 180°)(flat-rough area)</td></tr><tr><td class="align_left">NIS threshold THD<sub>1</sub></td><td class="align_center">5.41 (98% confidence)</td></tr><tr><td class="align_left">NIS time window <i>L</i></td><td class="align_center">20</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Mathematical Problems in Engineering

tab2

Table 2

Table 2: Underwater Terrain-Aided Navigation Relocation Method in the Arctic 