Underwater navigation using diffusion-based trajectory observers

Jerome Jouffroy, Jan Opderbecke

Research output: Contribution to journalJournal articleResearchpeer-review


This paper addresses the issue of estimating underwater vehicle trajectories using gyro-Doppler (body-fixed velocities) and acoustic positioning 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. Results of contraction theory are used to prove that the observers are convergent, i.e., stable in the incremental sense. Simulation and experimental results are presented to illustrate the potential of application of the method.
Original languageEnglish
JournalIEEE Journal of Oceanic Engineering
Issue number2
Pages (from-to)313-326
Number of pages14
Publication statusPublished - 1. Apr 2007


  • cartography
  • Diffusion
  • observers
  • trajectory estimation
  • trajectory observers
  • underwater navigation
  • underwater vehicles


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