Interrogation of geophysical maps with uncertainty for AUV micro-navigation

S. T. Tuohy*, T. Maekawa, N. M. Patrikalakis

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


This paper presents high-accuracy algorithms for localization of a small autonomous underwater vehicle by comparing geophysical property maps (computer models) to local measurements obtained from vehicle-mounted sensors and an initial position fix. In this paper, we present methods for micro-navigation, which refers to fine-scale, quantitative position determination, that attempt a direct solution for position from a minimal set of measurements, using techniques from computational geometry. Each absolute or differential sensor measurement defines one or more contour lines on the stored geophysical maps along which the vehicle may be located. The contours are found from efficient and robust computation of the real solutions of non-linear interval polynomial systems of equations. A technique for such solutions based on convex hull properties, Bernstein subdivision and interval arithmetic is described in the paper.

Original languageEnglish
Title of host publicationProc Conf Oceans 93
PublisherPubl by IEEE
ISBN (Print)0780313860
Publication statusPublished - 1993 Dec 1
Externally publishedYes
EventProceedings of the Conference on Oceans '93. Part 1 (of 3) - Victoria, BC, Can
Duration: 1993 Oct 181993 Oct 21

Publication series

NameProc Conf Oceans 93


ConferenceProceedings of the Conference on Oceans '93. Part 1 (of 3)
CityVictoria, BC, Can

ASJC Scopus subject areas

  • Engineering(all)


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