Path Planning Method for Underwater Gravity-Aided Inertial Navigation Based on PCRB

Path Planning Method for Underwater Gravity-Aided Inertial Navigation Based on PCRB

Gravity-aided inertial navigation system (GAINS) is an important development in autonomous underwater vehicle (AUV) navigation. An effective path planning algorithm plays an important role in the performance of navigation in long-term underwater missions. By combining the gravity information obtaine...

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Bibliographic Details
Main Authors: Bo Wang, Tijing Cai
Format: Article
Language:English
Published: MDPI AG 2023-05-01
Series:Journal of Marine Science and Engineering
Subjects:
autonomous underwater vehicle (AUV)
gravity-aided inertial navigation system (GAINS)
A* optimization
path planning
posterior Cramér-Rao bound (PCRB)
Online Access:https://www.mdpi.com/2077-1312/11/5/993

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