An algebraic perspective to single-transponder underwater navigation

Jerome Jouffroy, Johann Reger

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

Resumé

This paper studies the position estimation of an underwater vehicle using a single acoustic transponder. The chosen estimation approach is based on nonlinear differential algebraic methods which allow to express very simply conditions for observability. These are then used in combination with an integrator-based time-derivative estimation technique to design an algebraic estimator, which, contrary to asymptotic observers, does not require sometimes tedious convergence verification. Simple simulation results are presented to illustrate the approach.

OriginalsprogEngelsk
Publikationsdato2006
StatusUdgivet - 2006
BegivenhedIEEE Int. Conference on Control Applications (CCA'06) - Munich, Tyskland
Varighed: 24. aug. 2010 → …

Konference

KonferenceIEEE Int. Conference on Control Applications (CCA'06)
LandTyskland
ByMunich
Periode24/08/2010 → …

Fingeraftryk

Transponders
Navigation
Observability
Acoustics
Derivatives

Bibliografisk note

Paper ThB09.1

Citer dette

Jouffroy, J., & Reger, J. (2006). An algebraic perspective to single-transponder underwater navigation. Paper præsenteret på IEEE Int. Conference on Control Applications (CCA'06), Munich, Tyskland.
Jouffroy, Jerome ; Reger, Johann. / An algebraic perspective to single-transponder underwater navigation. Paper præsenteret på IEEE Int. Conference on Control Applications (CCA'06), Munich, Tyskland.
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Jouffroy, J & Reger, J 2006, 'An algebraic perspective to single-transponder underwater navigation', Paper fremlagt ved IEEE Int. Conference on Control Applications (CCA'06), Munich, Tyskland, 24/08/2010.

An algebraic perspective to single-transponder underwater navigation. / Jouffroy, Jerome; Reger, Johann.

2006. Paper præsenteret på IEEE Int. Conference on Control Applications (CCA'06), Munich, Tyskland.

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

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AB - This paper studies the position estimation of an underwater vehicle using a single acoustic transponder. The chosen estimation approach is based on nonlinear differential algebraic methods which allow to express very simply conditions for observability. These are then used in combination with an integrator-based time-derivative estimation technique to design an algebraic estimator, which, contrary to asymptotic observers, does not require sometimes tedious convergence verification. Simple simulation results are presented to illustrate the approach.

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Jouffroy J, Reger J. An algebraic perspective to single-transponder underwater navigation. 2006. Paper præsenteret på IEEE Int. Conference on Control Applications (CCA'06), Munich, Tyskland.