Diffusion-based outlier rejection for underwater navigation

Steinar Vike, Jerome Jouffroy

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

Resumé

This paper addresses the issue of rejecting spurious acoustic position measurements for the estimation of trajectories in underwater vehicle navigation. The method relies on the diffusion-based observer approach (Jouffroy and Opderbecke, 2004; 2005), which allows one to consider and process entire trajectory segments at a time. The proposed observer contains a nonlinear feedback gain, constraining the estimate to detach from measurements that are considered as outliers. The observer is proven to be exponentially convergent. Simulation and experimental results are presented to illustrate the benefits of the approach.

OriginalsprogEngelsk
Publikationsdato2005
StatusUdgivet - 2005
BegivenhedIEEE Marine Technology and Ocean Science Conference (Oceans'05) - Washington, USA
Varighed: 24. aug. 2010 → …

Konference

KonferenceIEEE Marine Technology and Ocean Science Conference (Oceans'05)
LandUSA
ByWashington
Periode24/08/2010 → …

Fingeraftryk

Navigation
Trajectories
Position measurement
Nonlinear feedback
Acoustics

Citer dette

Vike, S., & Jouffroy, J. (2005). Diffusion-based outlier rejection for underwater navigation. Paper præsenteret på IEEE Marine Technology and Ocean Science Conference (Oceans'05), Washington, USA.
Vike, Steinar ; Jouffroy, Jerome. / Diffusion-based outlier rejection for underwater navigation. Paper præsenteret på IEEE Marine Technology and Ocean Science Conference (Oceans'05), Washington, USA.
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Vike, S & Jouffroy, J 2005, 'Diffusion-based outlier rejection for underwater navigation', Paper fremlagt ved IEEE Marine Technology and Ocean Science Conference (Oceans'05), Washington, USA, 24/08/2010.

Diffusion-based outlier rejection for underwater navigation. / Vike, Steinar; Jouffroy, Jerome.

2005. Paper præsenteret på IEEE Marine Technology and Ocean Science Conference (Oceans'05), Washington, USA.

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

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AB - This paper addresses the issue of rejecting spurious acoustic position measurements for the estimation of trajectories in underwater vehicle navigation. The method relies on the diffusion-based observer approach (Jouffroy and Opderbecke, 2004; 2005), which allows one to consider and process entire trajectory segments at a time. The proposed observer contains a nonlinear feedback gain, constraining the estimate to detach from measurements that are considered as outliers. The observer is proven to be exponentially convergent. Simulation and experimental results are presented to illustrate the benefits of the approach.

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Vike S, Jouffroy J. Diffusion-based outlier rejection for underwater navigation. 2005. Paper præsenteret på IEEE Marine Technology and Ocean Science Conference (Oceans'05), Washington, USA.