Simulation with Pre-defined NavPoints
In this simulation, the Navigation Cells have been pre-defined in the mission plan at points through which the vehicle is programmed to pass through more than once.
In the main plot axes, the yellow block represents the actual vehicle and the grey represents the estimate used by the guidance & navigation system. The mission path, defined by waypoints is shown in green. The mean terrain variance and maximum vehicle uncertainty are displayed in the top-right plot axes, but are not utilised in this simulation. In the bottom-right plot axes, a waterfall plot of the bathymetric data is shown as each swath is acquired by the sonar.
Simulation with Adaptive Mission Re-planning
Here, the vehicle monitors the terrain variability and upon exceeding some threshold, establishes a Navigation Cell. If the vehicle's positional uncertainty, exceeds some critical value, it is allowed to return to a cell, make a correction and then resume its mission.
The mean terrain variance and maximum vehicle uncertainty, displayed in the top-right plot axes, are used in this simulation. The threshold for each is drawn in red.