An underwater acoustic localisation system for assisted human diving operations

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2012

Autores

Glotzbach, T (Autor) Outra; Bayat, M (Autor) Outra; Aguiar, AP (Autor) FEUP; Pascoal, A (Autor) Outra

Ata de Conferência Internacional

Título: IFAC Proceedings Volumes (IFAC-PapersOnline)

Páginas: 206-211

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

Arenzano, 19 September 2012 through 21 September 2012

Indexação

ISI Web of Knowledge

Scopus - 9 Citações

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6