An underwater acoustic localisation system for assisted human diving operations

• Type: Article in International Conference Proceedings Book
• Date: 2012

Authors

Glotzbach, T (Author) Other; Bayat, M (Author) Other; Aguiar, AP (Author) FEUP; Pascoal, A (Author) Other

Conference proceedings International

Title: IFAC Proceedings Volumes (IFAC-PapersOnline)

Pages: 206-211

9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012

Arenzano, 19 September 2012 through 21 September 2012

Indexing

ISI Web of Knowledge

Scopus - 9 Citations

Other information

Authenticus ID: P-009-GXP

DOI: 10.3182/20120919-3-it-2046.00035

Abstract (EN): In this paper we present a solution to the problem of estimating the position and orientation of a moving underwater object using acoustic range measurements relative to moving surface objects that have access to a global navigation system. We start with the description of a standard GPS Intelligent Buoy system (GIB) that employs an Extended Kalman Filter (EKF); then we adapt this principle for the concrete task of tracking a human diver utilizing moving autonomous surface crafts. To this effect, we will introduce an advanced measurement system that improves significantly the estimation quality especially in the described scenario. The paper concludes with a short description of the first sea trials of the new developed system. © IFAC.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6