An Underwater Cooperative Navigation Scheme

• Type: Article in International Conference Proceedings Book
• Date: 2013

Authors

Nogueira, M (Author) Other; Souza, J (Author) Other; Pereira, F (Author) FEUP

Conference proceedings International

Title: 2013 MTS/IEEE OCEANS - BERGEN

MTS/IEEE OCEANS Conference

Bergen, NORWAY, JUN 10-14, 2013

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 2 Citations

Other information

Authenticus ID: P-008-FKK

DOI: 10.1109/oceans-bergen.2013.6608182

Abstract (EN): In this article we present and discuss a cooperative localization and navigation system based on the Extended Kalman Filter specifically designed to meet the requirements of the underwater environment. These lead us to consider a SLAM-like scheme in which some other Autonomous Underwater Vehicles (AUVs) play the role of mobile environment features and range measurements are used as external data. Own "recent" navigation data and some minimal communicated data by other AUVs are used to consistently update pose estimates and error covariances of relevant vehicles. A number of simulation and experimental results are presented to illustrate the approach.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 7