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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Wenbai Li Mingyong Liu Xiaokang Lei Fei Xu |
| Copyright Year | 2010 |
| Description | Author affiliation: College of Marine, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China (Wenbai Li; Mingyong Liu; Xiaokang Lei) || School of Computer Science and Engineering, Xi'an Technological University, Shaanxi Province, China (Fei Xu) |
| Abstract | Precise navigation of autonomous underwater vehicles (AUV) is one of the most important challenges for marine applications. Current 2-dimensional (2D) navigation systems (algorithms) are effective to autonomous surface vehicles (ASV) operations, but still have some limitations for AUV navigation in 3D underwater environment. In this paper, a 3D range navigation algorithm is proposed that is potentially useful for small AUVs that have severe volume and power constraints. This algorithm enables an AUV to compute its trajectory in the presence of unknown currents and simultaneously estimate the currents by using range measurements from a single known location (beacon). The principal work here is the observability analysis of the proposed navigation system that characterizes observable AUV trajectories using novel approaches towards uniform observability of linear time varying systems. Then, implementation of the 3D range navigation algorithm as a discrete time extended Kalman filter is given based on the observability results and kinematic model of the system. Finally, a set of comparative simulation results verify the validity of the navigation algorithm and the system's observability related to trajectories. |
| Starting Page | 155 |
| Ending Page | 161 |
| File Size | 939374 |
| Page Count | 7 |
| File Format | |
| ISBN | 9781424465828 |
| e-ISBN | 9781424465859 |
| DOI | 10.1109/ICICISYS.2010.5658655 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2010-10-29 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Navigation system Navigation Unknown currents Trajectory Observability Extended Kalman filter Autonomous underwater vehicle |
| Content Type | Text |
| Resource Type | Article |
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