Naslov
Fusing Hydroacoustic Absolute Position Fixes with AUV On-Board Dead Reckoning

Autori
Barišić, Matko ; Mišković, Nikola ; Vasilijević, Antonio

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

Izvornik
Proceedings of the 10th IFAC Symposium on Robot Control / Petrovic, Ivan ; Korondi, Peter - : International Federation of Automatic Control, 2012, 211-217

ISBN
978-3-902823-11-3

Skup
10th IFAC Symposium on Robot Control

Mjesto i datum
Dubrovnik, Hrvatska, 05.09.2012. - 07.09.2012

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Underwater robotics ; Mobile robots and vehicles ; Modeling and identification

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 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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

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