FN Archimer Export Format
PT J
TI Underwater vehicle navigation using diffusion-based trajectory observers
BT 
AF JOUFFROY, J
   OPDERBECKE, Jan
AS 1:2;2:1;
FF 1:;2:PDG-DOP-DCM-SM-PRAO;
C1 Norwegian Univ Sci & Technol, Ctr Ships & Ocean Struct, NO-7491 Trondheim, Norway.
   French Inst Ocean Res, Underwater Robot Navigat & Vis Dept, F-83507 La Seyne Sur Mer, France.
C2 UNIV SCI & TECHNOL NORWEGIAN, NORWAY
   IFREMER, FRANCE
SI TOULON
SE PDG-DOP-DCM-SM-PRAO
IN WOS Ifremer jusqu'en 2018
   copubli-europe
IF 0.825
TC 15
UR https://archimer.ifremer.fr/doc/2007/publication-4967.pdf
LA English
DT Article
DE ;Underwater vehicles;Underwater navigation;Trajectory observers;Trajectory estimation;Observers;Diffusion;Cartography
AB 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.
PY 2007
PD APR
SO IEEE Journal of Oceanic Engineering
SN 0364-9059
PU IEEE
VL 32
IS 2
UT 000251109700004
BP 313
EP 326
DI 10.1109/JOE.2006.880392
ID 4967
ER

EF