Naslov
Sigma-Point Unscented Kalman Filter Used For AUV Navigation

Autori
Barišić, Matko ; Vasilijević, Antonio ; Nađ, Đula

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 20th Mediterranean Conference on Control and Automation 2012 / Quevedo, J. ; Albertos, P. - Barcelona : Universitat Politècnica de Catalunya, 2012, 1365-1372

Skup
20th Mediterranean Conference on Control and Automation 2012

Mjesto i datum
Barcelona, Španjolska, 03.07.2012. - 06.07.2012

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
navigation ; guidance ; control ; estimation ; filtering ; Kalman filter

Sažetak
This paper presents an implementation of the Sigma-point Unscented Kalman Filter (SP-UKF) used in the simulated task of open-water navigation of two types of AUV. The first simulated vehicle is a large cruise-type vehicle modeled after the Instituto Superior Tecnico, Lisbon vehicle Infante. The second is a small, almost fully actuated vehicle with tunnel thrusters modeled after the SSC Pacific, San Diego vehicle CETUS II. The SP-UKF shows itself, after properly taking care of implementation details, to be a robust methodology which allows for efficient and correct navigation, aided by several typical sensors (DVL, USBL hydroacoustic localization systems, AHRS). The influence of currents on the navigation, and the ability of estimating the current components is also researched. The navigation fix is fed back to the low-level control loops aboard each vehicles to achieve sane and rational navigation of the waterspace that follows stably and robustly the command signals.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

Napomena
(rad prihvaćen za objavljivanje, unešen prije datuma objavljivanja i referata na skupu)

POVEZANOST RADA