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Sensor-based long baseline navigation: Observability analysis and filter design
Batista P.1,2; Silvestre C.1,3; Oliveira P.1,4
2014
Source PublicationAsian Journal of Control
ISSN19346093 15618625
Volume16Issue:4Pages:974-994
Abstract

This paper presents a novel long baseline (LBL) position and velocity navigation filter for underwater vehicles based directly on the sensor measurements. The solution departs from previous approaches as the range measurements are explicitly embedded in the filter design, therefore avoiding inversion algorithms and allowing also the consideration of the cases of reduced numbers of readings, in particular when there are only two or three distance measurements. The nonlinear system dynamics are considered to their full extent and no linearizations are carried out whatsoever. The filter error dynamics are globally exponentially stable (GES) and it is shown, in a realistic simulation environment, that the filter achieves similar performance to the extended Kalman filter (EKF) and outperforms linear position and velocity filters based on algebraic estimates of the position obtained from the range measurements. © 2013 Chinese Automatic Control Society and Wiley Publishing Asia Pty Ltd.

KeywordLong Baseline Marine Robotics Navigation Nonlinear Observability Analysis
DOI10.1002/asjc.778
URLView the original
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000339476600003
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Citation statistics
Cited Times [WOS]:22   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Inst Syst & Robot, Lab Robot & Syst Engn & Sci, Lisbon, Portugal
2.Univ Lisbon, Inst Super Tecn, Lisbon, Portugal
3.Univ Macau, Dept Elect & Comp Engn, Fac Sci & Technol, Taipa, Peoples R China
4.Univ Lisbon, Dept Mech Engn, Inst Super Tecn, Lisbon, Portugal
Recommended Citation
GB/T 7714
Batista P.,Silvestre C.,Oliveira P.. Sensor-based long baseline navigation: Observability analysis and filter design[J]. Asian Journal of Control,2014,16(4):974-994.
APA Batista P.,Silvestre C.,&Oliveira P..(2014).Sensor-based long baseline navigation: Observability analysis and filter design.Asian Journal of Control,16(4),974-994.
MLA Batista P.,et al."Sensor-based long baseline navigation: Observability analysis and filter design".Asian Journal of Control 16.4(2014):974-994.
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