Single beacon acoustic navigation for an AUV in the presence of unknown ocean currents

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

Autores

Saude, J (Autor) Outra; Aguiar, AP (Autor) Outra

Ata de Conferência Internacional

Título: IFAC Proceedings Volumes (IFAC-PapersOnline)

Páginas: 298-303

8th International IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2009

Guaruja (SP), 16 September 2009 through 18 September 2009

Indexação

ISI Web of Knowledge

Scopus - 9 Citações

Outras Informações

ID Authenticus: P-007-ZMA

DOI: 10.3182/20090916-3-br-3001.0057

Abstract (EN): This paper addresses the problem of underwater navigation, using a single beacon (or a transponder). We propose a solution to estimate the underwater vehicle position in the presence of unknown ocean currents. The main idea is to combine the dead-reckoning information with multiple range measurements taken at different instants of time from the vehicle to a single beacon. Then, applying a multilateration based algorithm and using a Kalman filter, the unknown velocity of ocean current and a more accurate estimation of vehicle's position is estimated. The stability and convergence of the position estimation error are analysed taken explicitly into account the presence of ocean currents, disturbances, measurement noise and discretization errors. Simulation results are presented and discussed. In particular, we show that the implementation of the Kalman filter to estimate the ocean current is crucial to achieve convergence of the estimated position. © 2009 IFAC.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6