Algorithms for external tracking of an AUV

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2004

Autores

Aníbal Matos (Autor) FEUP; Nuno Cruz (Autor) FEUP

Ata de Conferência Internacional

Título: Proceedings of 5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2004)

Páginas: 1-6

5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2004)

Lisboa, Portugal, 5 a 7 de Julho de 2004

Indexação

ISI Proceedings

Scopus - 3 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

ID Authenticus: P-00S-CTN

Abstract (EN): In this paper we describe the algorithms used in the external tracking system of the Isurus AUV. By listening to the acoustic signals exchanged between the vehicle and the beacons of the acoustic navigation network, the tracking system is able to obtain distance measurements from the vehicle to each beacon, that are then used to compute the vehicle horizontal position. Several error sources make these measurements inadequate to be used for computing the vehicle position by a simple triangulation technique. The tracking algorithms described here are able to reject highly erroneous measurements, producing position estimates with a satisfactory degree of accuracy.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6