Underwater vehicle navigation using diffusion-based trajectory observers

Type Article
Date 2007-04
Language English
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
DOI 10.1109/JOE.2006.880392
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.
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