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Position USBL/DVL sensor-based navigation filter in the presence of unknown ocean currents
Morgado M.; Batista P.; Oliveira P.; Silvestre C.
Conference Name49th IEEE Conference on Decision and Control (CDC)
Conference DateDEC 15-17, 2010
Conference PlaceAtlanta, GA
Author of SourceIEEE
Publication Place345 E 47TH ST, NEW YORK, NY 10017 USA

This paper presents a novel approach to the design of globally asymptotically stable (GAS) position and velocity filters for Autonomous Underwater Vehicles (AUVs) based directly on the sensor readings of an Ultra-short Baseline (USBL) acoustic array system and a Doppler Velocity Log (DVL). The proposed methodology is based on an equivalent linear time-varying (LTV) system that fully captures the dynamics of the nonlinear system, allowing for the use of powerful linear system analysis and filtering design tools that yield GAS filter error dynamics. Numerical results using Monte Carlo simulations and comparison to the Bayesian Cramér Rao Bound (BCRB) reveal that the performance of the proposed filter is tight to this theoretical estimation error lower bound. In comparison with other approaches, the present solution achieves the same level of performance of the Extended Kalman Filter (EKF), which does not offer GAS guarantees, and outperforms other classical filtering approaches designed in inertial coordinates instead of the body-fixed coordinate frame. © 2011 Elsevier Ltd. All rights reserved.

KeywordKalman Filters Navigation Systems Nonlinear Models Observability Performance Limits Time-varying Systems
URLView the original
Indexed BySCI
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000295049102086
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Cited Times [WOS]:3   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionPersonal research not belonging to the institution
AffiliationInst Super Tecn, Inst Syst & Robot, Av Rovisco Pais 1, P-1049001 Lisbon, Portugal.
Recommended Citation
GB/T 7714
Morgado M.,Batista P.,Oliveira P.,et al. Position USBL/DVL sensor-based navigation filter in the presence of unknown ocean currents[C]//IEEE. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2011:2604-2614.
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