Compressed delayed-information projection for underwater navigation under acoustic measurement latency
Compressed delayed-information projection for underwater navigation under acoustic measurement latency
This paper introduces Compressed Delayed-Information Projection (CDIP), a causal delayed-update method implemented within a 15-dimensional error-state Kalman filter.
The study evaluates a causal delayed-update method in an underwater navigation context using simulation data, reporting specific error metrics and computational savings under defined latency conditions.
Source: arXiv Robotics — research abstracts · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
- Environment
- SimulationOpen source S3
Reported numbers
mean trajectory-position root-mean-square error
0.456
View original evidence
) snapshots and maintains current-to-snapshot cross-covariances, projecting delayed corrections without repeated full-from-start filtering. In 154 paired simulation recordings with synthetic horizontal-position fixes delayed by 1.5~s, CDIP reduced mean trajectory-position root-mean-square error (RMSE) from 1.062~m for a reception-time Baseline to 0.456~m (57.1\%). Its mean RMSE approached that of full-from-start Repl
Open source S3mean trajectory-position root-mean-square error
1.062
View original evidence
) snapshots and maintains current-to-snapshot cross-covariances, projecting delayed corrections without repeated full-from-start filtering. In 154 paired simulation recordings with synthetic horizontal-position fixes delayed by 1.5~s, CDIP reduced mean trajectory-position root-mean-square error (RMSE) from 1.062~m for a reception-time Baseline to 0.456~m (57.1\%). Its mean RMSE approached that of full-from-start Repl
Open source S3number of paired simulation recordings
154
View original evidence
) snapshots and maintains current-to-snapshot cross-covariances, projecting delayed corrections without repeated full-from-start filtering. In 154 paired simulation recordings with synthetic horizontal-position fixes delayed by 1.5~s, CDIP reduced mean trajectory-position root-mean-square error (RMSE) from 1.062~m for a reception-time Baseline to 0.456~m (57.1\%). Its mean RMSE approached that of full-from-start Repl
Open source S3delay duration for synthetic horizontal-position fixes
1.5
View original evidence
) snapshots and maintains current-to-snapshot cross-covariances, projecting delayed corrections without repeated full-from-start filtering. In 154 paired simulation recordings with synthetic horizontal-position fixes delayed by 1.5~s, CDIP reduced mean trajectory-position root-mean-square error (RMSE) from 1.062~m for a reception-time Baseline to 0.456~m (57.1\%). Its mean RMSE approached that of full-from-start Repl
Open source S3number of nonlinear synthetic assessment trials
256
Reported trials
View original evidence
ay (0.451~m), with 99.2\% lower mean core-loop time per processed IMU step for the tested implementations. A six-delay sweep, scheduled permanent-loss outages of 50--300~s, and packet-erasure tests further characterized sensitivity to measurement timing and availability. A separate 256-trial nonlinear synthetic assessment identified departures from the prespecified calibration criterion for CDIP and two fully augment
Open source S4
- paper: not_reported
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
) snapshots and maintains current-to-snapshot cross-covariances, projecting delayed corrections without repeated full-from-start filtering. In 154 paired simulation recordings with synthetic horizontal-position fixes delayed by 1.5~s, CDIP reduced mean trajectory-position root-mean-square error (RMSE) from 1.062~m for a reception-time Baseline to 0.456~m (57.1\%). Its mean RMSE approached that of full-from-start Repl
Open source S3
ay (0.451~m), with 99.2\% lower mean core-loop time per processed IMU step for the tested implementations. A six-delay sweep, scheduled permanent-loss outages of 50--300~s, and packet-erasure tests further characterized sensitivity to measurement timing and availability. A separate 256-trial nonlinear synthetic assessment identified departures from the prespecified calibration criterion for CDIP and two fully augment
Open source S4
Source：arXiv Robotics — research abstracts · arxiv.org