An extended set-value observer for position estimation using single range measurements

Jose Marcal, Jerome Jouffroy, Thor I. Fossen

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

Abstract

The ability of estimating the position of an underwater vehicle from single range measurements is important in applications where one transducer marks an important geographical point, when there is a limitation in the size or cost of the vehicle, or when there is a failure in a system of transponders. The knowledge of the bearing of the vehicle and the range measurements from a single location can provide a solution which is sensitive to the trajectory that the vehicle is following, since there is no complete constraint on the position estimate with a single beacon. In this paper the observability of the system is briefly discussed and an extended set-valued observer is presented, with some discussion about the effect of the measurements noise on the final solution. This observer estimates bounds in the errors assuming that the exogenous signals are bounded, providing a safe region of confidence where the underwater vehicle is located.
Original languageEnglish
Publication date2008
Publication statusPublished - 2008
Event14th International Symposium on Unmanned Untethered Submersible Technology (UUST'05) - Durham, NH, United States
Duration: 24. Aug 2010 → …

Conference

Conference14th International Symposium on Unmanned Untethered Submersible Technology (UUST'05)
CountryUnited States
CityDurham, NH
Period24/08/2010 → …

Fingerprint

Bearings (structural)
Transponders
Observability
Transducers
Trajectories
Costs

Cite this

Marcal, J., Jouffroy, J., & Fossen, T. I. (2008). An extended set-value observer for position estimation using single range measurements. Paper presented at 14th International Symposium on Unmanned Untethered Submersible Technology (UUST'05), Durham, NH, United States.
Marcal, Jose ; Jouffroy, Jerome ; Fossen, Thor I. / An extended set-value observer for position estimation using single range measurements. Paper presented at 14th International Symposium on Unmanned Untethered Submersible Technology (UUST'05), Durham, NH, United States.
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Marcal, J, Jouffroy, J & Fossen, TI 2008, 'An extended set-value observer for position estimation using single range measurements', Paper presented at 14th International Symposium on Unmanned Untethered Submersible Technology (UUST'05), Durham, NH, United States, 24/08/2010.

An extended set-value observer for position estimation using single range measurements. / Marcal, Jose; Jouffroy, Jerome; Fossen, Thor I.

2008. Paper presented at 14th International Symposium on Unmanned Untethered Submersible Technology (UUST'05), Durham, NH, United States.

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

TY - CONF

T1 - An extended set-value observer for position estimation using single range measurements

AU - Marcal, Jose

AU - Jouffroy, Jerome

AU - Fossen, Thor I.

PY - 2008

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N2 - The ability of estimating the position of an underwater vehicle from single range measurements is important in applications where one transducer marks an important geographical point, when there is a limitation in the size or cost of the vehicle, or when there is a failure in a system of transponders. The knowledge of the bearing of the vehicle and the range measurements from a single location can provide a solution which is sensitive to the trajectory that the vehicle is following, since there is no complete constraint on the position estimate with a single beacon. In this paper the observability of the system is briefly discussed and an extended set-valued observer is presented, with some discussion about the effect of the measurements noise on the final solution. This observer estimates bounds in the errors assuming that the exogenous signals are bounded, providing a safe region of confidence where the underwater vehicle is located.

AB - The ability of estimating the position of an underwater vehicle from single range measurements is important in applications where one transducer marks an important geographical point, when there is a limitation in the size or cost of the vehicle, or when there is a failure in a system of transponders. The knowledge of the bearing of the vehicle and the range measurements from a single location can provide a solution which is sensitive to the trajectory that the vehicle is following, since there is no complete constraint on the position estimate with a single beacon. In this paper the observability of the system is briefly discussed and an extended set-valued observer is presented, with some discussion about the effect of the measurements noise on the final solution. This observer estimates bounds in the errors assuming that the exogenous signals are bounded, providing a safe region of confidence where the underwater vehicle is located.

M3 - Paper

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Marcal J, Jouffroy J, Fossen TI. An extended set-value observer for position estimation using single range measurements. 2008. Paper presented at 14th International Symposium on Unmanned Untethered Submersible Technology (UUST'05), Durham, NH, United States.