Terrain Based Navigation Tools for Underwater Vehicles using Eigen Analysis
Abstract
The development of tools for Terrain Based Navigation of Underwater Vehicles rooted on Principal Component Analysis are proposed and discussed in detail. Resorting to a nonlinear Lyapunov transformation, the synthesis and analysis of a nonlinear multirate H2 estimator is presented with guaranteed stability and optimal performance on equilibrium trajectories. Post-processing techniques using a fixed interval non-causal smoother are outlined to improve the performance of the overall framework. Results from Monte Carlo simulation techniques to assess the performance of the proposed tools are included.
