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Underwater source localization based on USBL measurements
Reis J.1; Carvalho N.1; Batista P.1; Oliveira P.1; Silvestre C.1,2
2015
Conference Name11th Portuguese Conference on Automatic Control
Source PublicationCONTROLO'2014 - PROCEEDINGS OF THE 11TH PORTUGUESE CONFERENCE ON AUTOMATIC CONTROL
Volume321 LNEE
Pages577-585
Conference DateJUL 21-23, 2014
Conference PlacePorto, PORTUGAL
Abstract

This paper presents a new sensor fusion technique for 3-D tracking of underwater targets based on direction measurements and a single range measurement. Applications relying on this solution include, above all, marine animal studies, consisting of two Ultra-Short Baseline (USBL) aided INS navigation systems and an acoustic transducer of reduced dimensions attached to the body of the target. A Linear Time-Varying (LTV) system is designed, which presents a globally asymptotically stable (GAS) error dynamics. The conditions to ensure observability are derived and the performance of the proposed solution is assessed through proper simulations. © 2015 Springer International Publishing.

KeywordEstimation Theory Localization Filter Marine Robotics
DOI10.1007/978-3-319-10380-8_55
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000345285200055
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Cited Times [WOS]:0   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Faculty of Science and Technology
Affiliation1.Univ Lisbon
2.Univ Macau
Recommended Citation
GB/T 7714
Reis J.,Carvalho N.,Batista P.,et al. Underwater source localization based on USBL measurements[C],2015:577-585.
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