Challenges still remain for the navigation systems of AUVs in sustained submerged missions. If not supported by some kind of external positioning system, the position error of a state-of-the-art aided inertial navigation system (INS) for AUVs grows about 0.1 percent of traveled distance along a straight line. New aiding techniques are under development utilizing suitable payload sensors for improving navigation. Terrain navigation is one of these techniques that enable submerged position updates.
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