Event
Paper proposes compressed delayed information projection method for underwater navigation
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Shuyue Li and co-authors propose Compressed Delayed Information Projection (CDIP), which handles delayed-arriving acoustic position measurements in a 15-dimensional error-state Kalman filter (ESKF): it retains the IMU snapshot associated with the source along with the current-to-snapshot cross-covariance, allowing delayed corrections to be projected without repeating the filter from scratch. Validation of the method is limited to simulation: in 154 paired simulation records, horizontal position corrections were artificially delayed by 1.5 seconds. On this basis, the authors state that, under the simulated delayed-measurement conditions evaluated, the results demonstrate an accuracy-versus-computation trade-off for causal underwater navigation.
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- CDIP: Compressed Delayed-Information Projection for Underwater Navigation Under Acoustic Measurement Latency
The paper proposes compressed delayed-information projection (CDIP), which handles delayed-arrival acoustic position measurements in a 15-dimensional error-state Kalman filter (ESKF), retaining source-associated IMU snapshots and the current-to-snapshot cross-covariances, so delayed corrections can be projected without repeating the filter from the start.
arXiv cs.RO ·
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