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Tightly coupled long baseline/ultra-short baseline integrated navigation system
Batista P.1; Silvestre C.1,2; Oliveira P.1
2016-06-10
Source PublicationInternational Journal of Systems Science
ISSN14645319 00207721
Volume47Issue:8Pages:1837-1855
Abstract

This paper proposes a novel integrated navigation filter based on a combined long baseline/ultra short baseline acoustic positioning system with application to underwater vehicles. With a tightly coupled structure, the position, linear velocity, attitude, and rate gyro bias are estimated, considering the full nonlinear system dynamics without resorting to any algebraic inversion or linearisation techniques. The resulting solution ensures convergence of the estimation error to zero for all initial conditions, exponentially fast. Finally, it is shown, under simulation environment, that the filter achieves very good performance in the presence of sensor noise.

KeywordLong Baseline Marine Robotics Navigation Observability Analysis Sensor Fusion Ultra-short Baseline
DOI10.1080/00207721.2014.955070
URLView the original
Language英语
WOS Research AreaAutomation & Control Systems ; Computer Science ; Operations Research & Management Science
WOS SubjectAutomation & Control Systems ; Computer Science, Theory & Methods ; Operations Research & Management Science
WOS IDWOS:000368197200009
PublisherTAYLOR & FRANCIS LTD, 2-4 PARK SQUARE, MILTON PARK, ABINGDON OR14 4RN, OXON, ENGLAND
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Citation statistics
Cited Times [WOS]:6   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Instituto Superior Técnico
2.Universidade de Macau
Recommended Citation
GB/T 7714
Batista P.,Silvestre C.,Oliveira P.. Tightly coupled long baseline/ultra-short baseline integrated navigation system[J]. International Journal of Systems Science,2016,47(8):1837-1855.
APA Batista P.,Silvestre C.,&Oliveira P..(2016).Tightly coupled long baseline/ultra-short baseline integrated navigation system.International Journal of Systems Science,47(8),1837-1855.
MLA Batista P.,et al."Tightly coupled long baseline/ultra-short baseline integrated navigation system".International Journal of Systems Science 47.8(2016):1837-1855.
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