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Algorithms for external tracking of an AUV

Title
Algorithms for external tracking of an AUV
Type
Article in International Conference Proceedings Book
Year
2004
Authors
Conference proceedings International
Pages: 1-6
5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2004)
Lisboa, Portugal, 5 a 7 de Julho de 2004
Indexing
Publicação em ISI Proceedings ISI Proceedings
Scientific classification
FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering
Other information
Authenticus ID: 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.
Language: English
Type (Professor's evaluation): Scientific
No. of pages: 6
License type: Click to view license CC BY-NC
Documents
File name Description Size
2004_MatosCruz 861.30 KB
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