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Position and velocity filters for asc/i-auv tandems based on single range measurements
Viegas D.1; Batista P.1; Oliveira P.1,2; Silvestre C.1,2
2014
Source PublicationJournal of Intelligent and Robotic Systems: Theory and Applications
ISSN15730409 09210296
Volume74Issue:3-4Pages:745-768
Abstract

This paper proposes novel cooperative navigation solutions for an Intervention Autonomous Underwater Vehicle (I-AUV) working in tandem with an Autonomous Surface Craft (ASC). The I-AUV is assumed to be moving in the presence of constant unknown ocean currents, and aims to estimate its position relying on measurements of its range to the ASC. Two different scenarios are considered: in the first scenario, the ASC transmits its position and velocity to the I-AUV, and the I-AUV has access to readings of its velocity relative to the water. In the second scenario, the ASC transmits only its position, and the I-AUV has access to measurements of its velocity relative to the ASC. In both cases, it is assumed that an Attitude and Heading Reference System (AHRS) mounted on-board the I-AUV provides measurements of its attitude and angular velocity. A sufficient condition for observability and a method for designing state observers with Globally Asymptotically Stable (GAS) error dynamics are presented for both problems. Finally, simulation results are included and discussed to assess the performance of the proposed solutions in the presence of measurement noise. © Springer Science+Business Media Dordrecht 2013.

KeywordCooperative Navigation Kalman Filtering Observability Of Nonlinear Systems
DOI10.1007/s10846-013-9876-9
URLView the original
Indexed BySCI
Language英语
WOS Research AreaComputer Science ; Robotics
WOS SubjectComputer Science, Artificial Intelligence ; Robotics
WOS IDWOS:000336449900013
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Cited Times [WOS]:5   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Univ Lisbon, Inst Super Tecn, Dept Mech Engn, P-1049001 Lisbon, Portugal
2.Universidade de Macau
Recommended Citation
GB/T 7714
Viegas D.,Batista P.,Oliveira P.,et al. Position and velocity filters for asc/i-auv tandems based on single range measurements[J]. Journal of Intelligent and Robotic Systems: Theory and Applications,2014,74(3-4):745-768.
APA Viegas D.,Batista P.,Oliveira P.,&Silvestre C..(2014).Position and velocity filters for asc/i-auv tandems based on single range measurements.Journal of Intelligent and Robotic Systems: Theory and Applications,74(3-4),745-768.
MLA Viegas D.,et al."Position and velocity filters for asc/i-auv tandems based on single range measurements".Journal of Intelligent and Robotic Systems: Theory and Applications 74.3-4(2014):745-768.
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