Observability metric for the relative localization of AUVs based on range and depth measurements: theory and experiments

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2011

Autores

Arrichiello, F (Autor) Outra; Antonelli, G (Autor) Outra; Aguiar, AP (Autor) Outra; Pascoal, A (Autor) Outra

Ata de Conferência Internacional

Título: 2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS

Páginas: 3166-3171

IEEE/RSJ International Conference on Intelligent Robots and Systems

San Francisco, CA, SEP 25-30, 2011

Indexação

ISI Web of Knowledge - 18 Citações

Scopus - 47 Citações

Outras Informações

ID Authenticus: P-008-1PF

DOI: 10.1109/iros.2011.6048075

Abstract (EN): This paper addresses the problem of observability of the relative motion of two AUVs equipped with velocity and depth sensors, and inter-vehicle ranging devices. We start by exploiting nonlinear observability concepts to analyze, using observability rank conditions, some types of relative AUV motions. Because rank conditions only provide binary information regarding observability, we then derive a specific observability index (metric) and study its dependence on the types of relative motions executed by the vehicles. In particular, it is shown that the degradation of observability depends on the range and angle between the relative velocity and position vectors. The problem addressed bears affinity with that of single beacon localization. For this reason, the results derived are validated experimentally in a equivalent, single beacon navigation scenario.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6