Underwater vehicle trajectory estimation using contracting PDE-based observers

Jerome Jouffroy, Jan Opderbecke

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

Abstract

This paper addresses the issue of estimating 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 to consider important practical problems such as different information update rates, outages, and outliers in a very simple framework. Results of (Lohmiller and Slotine, 1999) are used to prove that the observers are contracting, i.e. convergent in the sense of contraction analysis. Simulation and experimental results are presented to illustrate the potential of application of the method.
OriginalsprogEngelsk
Publikationsdato2004
StatusUdgivet - 2004
BegivenhedAmerican Control Conference (ACC'04) - Boston, USA
Varighed: 24. aug. 2010 → …

Konference

KonferenceAmerican Control Conference (ACC'04)
Land/OmrådeUSA
ByBoston
Periode24/08/2010 → …

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