Towards on-line underwater vehicle trajectory estimation using diffusion-based observers

Jerome Jouffroy, Tu Duc Nguyen

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Abstrakt

This work extends previous work (Jouffroy and Opderbecke, 2004) on the estimation of underwater vehicle trajectories using Gyro-Doppler (body-fixed velocities) and acoustic signals (earth-fixed positions). The approach consists of diffusion-based observers processing a whole trajectory segment at a time, allowing the consideration of important practical problems such as different information update rates, outages, and outliers in a very simple framework. We detail issues related to real-time applications, such as implementation and convergence. A theorem guaranteeing stability of the observer and simulation examples are given.
OriginalsprogEngelsk
Publikationsdato2004
StatusUdgivet - 2004
BegivenhedIEEE Marine Technology and Ocean Science Conference (Oceans'04) - Kobe, Japan
Varighed: 24. aug. 2010 → …

Konference

KonferenceIEEE Marine Technology and Ocean Science Conference (Oceans'04)
Land/OmrådeJapan
ByKobe
Periode24/08/2010 → …

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