Diffusion-based outlier rejection for underwater navigation

Steinar Vike, Jerome Jouffroy

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

Abstract

This paper addresses the issue of rejecting spurious acoustic position measurements for the estimation of trajectories in underwater vehicle navigation. The method relies on the diffusion-based observer approach (Jouffroy and Opderbecke, 2004; 2005), which allows one to consider and process entire trajectory segments at a time. The proposed observer contains a nonlinear feedback gain, constraining the estimate to detach from measurements that are considered as outliers. The observer is proven to be exponentially convergent. Simulation and experimental results are presented to illustrate the benefits of the approach.

Original languageEnglish
Publication date2005
Publication statusPublished - 2005
EventIEEE Marine Technology and Ocean Science Conference (Oceans'05) - Washington, United States
Duration: 24. Aug 2010 → …

Conference

ConferenceIEEE Marine Technology and Ocean Science Conference (Oceans'05)
CountryUnited States
CityWashington
Period24/08/2010 → …

Fingerprint

Navigation
Trajectories
Position measurement
Nonlinear feedback
Acoustics

Cite this

Vike, S., & Jouffroy, J. (2005). Diffusion-based outlier rejection for underwater navigation. Paper presented at IEEE Marine Technology and Ocean Science Conference (Oceans'05), Washington, United States.
Vike, Steinar ; Jouffroy, Jerome. / Diffusion-based outlier rejection for underwater navigation. Paper presented at IEEE Marine Technology and Ocean Science Conference (Oceans'05), Washington, United States.
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Vike, S & Jouffroy, J 2005, 'Diffusion-based outlier rejection for underwater navigation', Paper presented at IEEE Marine Technology and Ocean Science Conference (Oceans'05), Washington, United States, 24/08/2010.

Diffusion-based outlier rejection for underwater navigation. / Vike, Steinar; Jouffroy, Jerome.

2005. Paper presented at IEEE Marine Technology and Ocean Science Conference (Oceans'05), Washington, United States.

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

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T1 - Diffusion-based outlier rejection for underwater navigation

AU - Vike, Steinar

AU - Jouffroy, Jerome

PY - 2005

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AB - This paper addresses the issue of rejecting spurious acoustic position measurements for the estimation of trajectories in underwater vehicle navigation. The method relies on the diffusion-based observer approach (Jouffroy and Opderbecke, 2004; 2005), which allows one to consider and process entire trajectory segments at a time. The proposed observer contains a nonlinear feedback gain, constraining the estimate to detach from measurements that are considered as outliers. The observer is proven to be exponentially convergent. Simulation and experimental results are presented to illustrate the benefits of the approach.

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Vike S, Jouffroy J. Diffusion-based outlier rejection for underwater navigation. 2005. Paper presented at IEEE Marine Technology and Ocean Science Conference (Oceans'05), Washington, United States.