Using Side Scan Sonar for Relative Navigation

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2009

Autores

Pinto, M (Autor) Outra; Bruno Ferreira (Autor) FEUP; Aníbal Castilho Coimbra de Matos (Autor) FEUP; Nuno Cruz (Autor) FEUP

Ata de Conferência Internacional

Título: IECON: 2009 35TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS, VOLS 1-6

Páginas: 2011-2016

35th Annual Conference of the IEEE-Industrial-Electronics-Society (IECON 2009)

Porto, PORTUGAL, NOV 03-05, 2009

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 2 Citações

Outras Informações

ID Authenticus: P-003-QFA

DOI: 10.1109/iecon.2009.5415353

Abstract (EN): This paper describes the interaction between the kinematic model of the AUV MARES, and the measurement and observation of the environment through images obtained with the sonar use. Three types of Sonar are discussed in this paper; there are forward-look, side scan and multibeam. But the sonar used to develop this work was the side scan sonar. The type of observations and characteristics of the environment provided by the sonar are described here. The method, which connects the sensory part of the vehicle with the observations of the sonar, was the Kalman filter (EKF). In this paper, are presented two simulations of filters for two different characteristics. Both filters estimate the characteristics of natural landmarks, creating an environment map, but both of them consider different states of the vehicle. Results of the simulation are obtained. The features that are considered are an underwater pipe on the floor and a wall. It also generated a control for the vehicle that provides the capacity to move along the feature/landmark from a reference distance.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6