Authors: David McKnight - Guidance Marine, UK, 

Abstract
Traditional laser or microwave local position reference sensor systems comprise a sensor located on the vessel and one or more targets which are positioned on the asset being tracked. The sensor measures the range and bearing between the sensor and the target.

This then provides a measurement with a very clear physical analogue and thus provides a mechanism to measure a ground truth in a test environment against which the measurement can be compared.

Targetless sensors must construct their view of the environment around them before working out how they are moving through that particular environment. The positioning performance may be dependent on the local environment around the sensor and thus additional variables impact on the tracking performance.

This paper was presented at the 2018 Dynamic Positioning Conference, 09-10 October 2018, Houston, Texas.

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