Fusing Hydroacoustic Absolute Position Fixes with AUV On-Board Dead Reckoning (CROSBI ID 608723)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Barišić, Matko ; Mišković, Nikola ; Vasilijević, Antonio
engleski
Fusing Hydroacoustic Absolute Position Fixes with AUV On-Board Dead Reckoning
This paper presents an implementation of the Sigma-point Unscented Kalman Filter (SP-UKF) used in the simulated task of open-water navigation of a large cruise-type AUV, the NPS Aries. Open-water navigation is conducted on the basis of rate gyros, the AHRS, which includes accelerometers and a triaxial magnetic compass, and the DVL. All sensors function at many times the sampling time of the control loops, and therefore are available (with even the possibility of median or other filtering) at every sample time. Additionally, to correct for unavoidable dead reckoning drift, an inverted USBL system is used to sporadically fuse an absolute navigation fix with the projected solution of the dead reckoning navigation. The entire simulation environment includes a detailed dynamical model of the vehicle, non-stationary, non-Gaussian measurement noise generators, sporadic sensor failure and sliding mode controllers for heading, pitch and forward speed.
Underwater robotics ; Mobile robots and vehicles ; Modeling and identification
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Podaci o prilogu
211-217.
2012.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 10th IFAC Symposium on Robot Control
Petrovic, Ivan ; Korondi, Peter
International Federation of Automatic Control
978-3-902823-11-3
1474-6670
Podaci o skupu
10th IFAC Symposium on Robot Control
predavanje
05.09.2012-07.09.2012
Dubrovnik, Hrvatska