An algebraic perspective to single-transponder underwater navigation

Jerome Jouffroy, Johann Reger

Research output: Contribution to conference without publisher/journalPaperResearchpeer-review

Abstract

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.

Original languageEnglish
Publication date2006
Publication statusPublished - 2006
EventIEEE Int. Conference on Control Applications (CCA'06) - Munich, Germany
Duration: 24. Aug 2010 → …

Conference

ConferenceIEEE Int. Conference on Control Applications (CCA'06)
CountryGermany
CityMunich
Period24/08/2010 → …

Fingerprint

Transponders
Navigation
Observability
Acoustics
Derivatives

Cite this

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

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

2006. Paper presented at IEEE Int. Conference on Control Applications (CCA'06), Munich, Germany.

Research output: Contribution to conference without publisher/journalPaperResearchpeer-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 presented at IEEE Int. Conference on Control Applications (CCA'06), Munich, Germany.