This paper develops and demonstrates a new accurate underwater positioning system, LOST2. LOST2 nonlinearly combines parts of dead-reckoning, acoustic-based, and terrain-based positioning into a single integrated system. The LOST2 system is composed of two major subsystems, a system observer and a constrained extended Kalman filter. Inputs to the system are as follows: (1) high resolution bathymetry, (2) measured ocean depth at the position of the vessel, (3) measured or estimated ...
This paper develops and demonstrates a new accurate underwater positioning system, LOST2. LOST2 nonlinearly combines pails of dead-reckoning, acoustic-based, and terrain-based positioning into a single integrated system. The LOST2 system is composed of two major subsystems, a system observer and a constrained extended Kalman filter. Inputs to the system are as follows: (1) high resolution bathymetry, (2) measured ocean depth at the position of the vessel, (3) measured or estimated ...
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