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.
|Publication status||Published - 2004|
|Event||IEEE Marine Technology and Ocean Science Conference (Oceans'04) - Kobe, Japan|
Duration: 24. Aug 2010 → …
|Conference||IEEE Marine Technology and Ocean Science Conference (Oceans'04)|
|Period||24/08/2010 → …|