an experimental course correction algorithm for the Unsinkable II submarine prototype developed by the technical university of eindhoven's team Abyss.
when at depth, GPS is unable to function. the current methodology used by submarines to track location is to have a known starting point and to then use a gyroscope and accelerometer to calculate the assumed offset from that position.
this has issues, most notably being that unless you have an infinitely accurate sensor (which is impossible), there will be an error, and this error will compound with each measurement - eventually making your recorded offsets be completely meaningless as even a small error can lead to hugely incorrect results over time.
the dynamic landmark navigation (DLN) algorithm aims to combat this by providing a 3rd sensor input used for error checking.
our submarine shall be close to the seafloor, thus we shall be using a sensor (specifics to be determined, either LIDAR or a camera) to map the seafloor in high resolution.
from this mapping data, our DLN algorithm will select a static "landmark" within a sensor frame (a landmark could be as simple as a prominent rock), and it shall compute the movement of this landmark between sensor frames; allowing us to measure an absolute offset which can then be used in conjunction with our other sensor data to compute a more accurate offset.