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: