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

Jerome Jouffroy, Tu Duc Nguyen

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

Resumé

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)
LandJapan
ByKobe
Periode24/08/2010 → …

Fingeraftryk

Trajectories
Outages
Acoustics
Earth (planet)
Processing

Citer dette

Jouffroy, J., & Nguyen, T. D. (2004). Towards on-line underwater vehicle trajectory estimation using diffusion-based observers. Afhandling præsenteret på IEEE Marine Technology and Ocean Science Conference (Oceans'04), Kobe, Japan.
Jouffroy, Jerome ; Nguyen, Tu Duc. / Towards on-line underwater vehicle trajectory estimation using diffusion-based observers. Afhandling præsenteret på IEEE Marine Technology and Ocean Science Conference (Oceans'04), Kobe, Japan.
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Jouffroy, J & Nguyen, TD 2004, 'Towards on-line underwater vehicle trajectory estimation using diffusion-based observers' Paper fremlagt ved IEEE Marine Technology and Ocean Science Conference (Oceans'04), Kobe, Japan, 24/08/2010, .

Towards on-line underwater vehicle trajectory estimation using diffusion-based observers. / Jouffroy, Jerome; Nguyen, Tu Duc.

2004. Afhandling præsenteret på IEEE Marine Technology and Ocean Science Conference (Oceans'04), Kobe, Japan.

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

TY - CONF

T1 - Towards on-line underwater vehicle trajectory estimation using diffusion-based observers

AU - Jouffroy, Jerome

AU - Nguyen, Tu Duc

PY - 2004

Y1 - 2004

N2 - 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.

AB - 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.

M3 - Paper

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Jouffroy J, Nguyen TD. Towards on-line underwater vehicle trajectory estimation using diffusion-based observers. 2004. Afhandling præsenteret på IEEE Marine Technology and Ocean Science Conference (Oceans'04), Kobe, Japan.