Terrain Aided Navigation (TAN) Senarios

TAN Development support features

Introduces TAN development scenarios using Dave project incorporating various sensors and bathymetry models.

Table of Contents

• Definitions
• Interfaces
• Feature Senarios
  • 1. Inertial Navitation System (Dead Reckoning)
  • 2. Positional Error Reset
  • 3. Feature-based Navigation
  • 4. Terrain Feature Set
  • 5. Evaluation

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Definitions

• TAN uses an existing map of the seafloor and estimates the position of the vehicle on the map by matching bathymetry measurements from vehicle sensors with locations on the map with the same altitude (given operation depth). Ref
• TAN is a sensor-based navigation technique that bounds the error growth of dead-reckoning using a map with terrain information, provided that there is enough terrain variability. An obvious advantage of Terrain Based Navigation is the fact that no external aiding signals or devices are required. Ref

Interfaces

Feature scenarios

1. Inertial Navitation System (Dead Reckoning)

• 1.1 Utilizing IMU/Pressure Sensors

• 1.2 Utilizing DVL Sensor

2. Positional Error Reset

• 2.1 Utilizing GPS

3. Feature-based Navigation

• 3.1 Utilizing Multibeam Echosounder for Forward Looking Sonar (FLS) images

• 3.2 Utilizing DVL Sensor for Bathymery gradient estimation

4. Terrain Feature Set

• 4.1 Incorporating Bathymetry Model

5. Evaluation

• 5.1 Extracting vehicle position using Gazebo service call