|Author(s)||Jouffroy J2, Opderbecke Jan1|
|Affiliation(s)||1 : Norwegian Univ Sci & Technol, Ctr Ships & Ocean Struct, NO-7491 Trondheim, Norway.
2 : French Inst Ocean Res, Underwater Robot Navigat & Vis Dept, F-83507 La Seyne Sur Mer, France.
|Source||IEEE Journal of Oceanic Engineering (0364-9059) (IEEE), 2007-04 , Vol. 32 , N. 2 , P. 313-326|
|WOS© Times Cited||14|
|Keyword(s)||Underwater vehicles, Underwater navigation, Trajectory observers, Trajectory estimation, Observers, Diffusion, Cartography|
|Abstract||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.|
Jouffroy J, Opderbecke Jan (2007). Underwater vehicle navigation using diffusion-based trajectory observers. IEEE Journal of Oceanic Engineering, 32(2), 313-326. Publisher's official version : https://doi.org/10.1109/JOE.2006.880392 , Open Access version : https://archimer.ifremer.fr/doc/00000/4967/