Compressed delayed-information projection for underwater navigation under acoustic measurement latency
Overview
This paper introduces Compressed Delayed-Information Projection (CDIP), a causal delayed-update method implemented within a 15-dimensional error-state Kalman filter.
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Event evidence and corrections
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Environment: simulation
“) 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”
Exact source · revision 1Source owner not reported
Reported quantity · mean trajectory-position root-mean-square error: 0.456 other · Basis not reported · Differing source assertions
“) 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”
Exact source · revision 1Source owner not reported
Reported quantity · mean trajectory-position root-mean-square error: 1.062 other · Basis not reported · Differing source assertions
“) 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”
Exact source · revision 1Source owner not reported
Reported quantity · number of paired simulation recordings: 154 other · Basis not reported
“) 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”
Exact source · revision 1Source owner not reported
Reported quantity · delay duration for synthetic horizontal-position fixes: 1.5 other · Basis not reported
“) 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”
Exact source · revision 1Source owner not reported
Reported quantity · number of nonlinear synthetic assessment trials: 256 other · reported trials
“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”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalCompressed 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.
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