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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
2011
Source PublicationAUTOMATICA
ISSN0005-1098
Volume47Issue:12Pages:2604-2614
Abstract

This paper presents a novel approach to the design of globally asymptotically stable (GAS) positionand 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). Theproposed methodology is based on an equivalent linear time-varying (LW) 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 Cramer 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. (C) 2011 Elsevier Ltd. All rights reserved.

KeywordNavigation Systems Time-varying Systems Nonlinear Models Observability Performance Limits Kalman Filters
DOI10.1016/j.automatica.2011.09.024
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000298071000007
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Cited Times [WOS]:29   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionPersonal research not belonging to the institution
Faculty of Science and Technology
DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
AffiliationUniv Tecn Lisboa, Inst Syst & Robot, Inst Super Tecn, 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[J]. AUTOMATICA,2011,47(12):2604-2614.
APA Morgado, M,Batista, P,Oliveira, P,&Silvestre, C.(2011).Position USBL/DVL Sensor-based Navigation Filter in the presence of Unknown Ocean Currents.AUTOMATICA,47(12),2604-2614.
MLA Morgado, M,et al."Position USBL/DVL Sensor-based Navigation Filter in the presence of Unknown Ocean Currents".AUTOMATICA 47.12(2011):2604-2614.
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