Using a Multiple Analytical Distribution Filter for Underwater Localization

摘要

This paper presents a high efficiency algorithm, Multiple Analytical Distribution Filter (MADF), to estimate location for underwater navigation. Using small grid sampling around candidate areas of high probability, MADF computes probabilities directly from the known analytical distributions of each beacon. The algorithm is deterministic and achieves similar results to particle filters, but at a lower computational cost in our tests. MADF and particle filters represent improvements over Kalman Filters for environments characterized by non-Gaussian noise distribution.