NDLI: Asynchronous data fusion for AUV navigation via heuristic fuzzy filtering techniques

Content Provider	IEEE Xplore Digital Library
Author	An, P.E. Healey, A.J. Park, J. Smith, S.M.
Copyright Year	1997
Description	Author affiliation: Dept. of Ocean Eng., Florida Atlantic Univ., Boca Raton, FL, USA (An, P.E.)
Abstract	This paper presents a heuristic fuzzy position estimation technique for autonomous underwater vehicle navigation. The heuristic estimator performs asynchronous data fusion of all sensor measurements based on their relative confidence levels, and then nonlinearly combines the fused information with the INS estimates via fuzzy filtering techniques. In this paper, the basis and implementation of the estimator will be described, and navigation results will be presented based on the heuristic estimator. In addition, performance comparison based on the heuristic estimator and those based on extended Kalman filters will be reported in our companion paper, and the results are expected to provide insights into the pros and cons of individual methods in terms of computational cost, steady-state and convergence characteristics for bias estimation.
Starting Page	397
Ending Page	402
File Size	610644
Page Count	6
File Format	PDF
ISBN	0780341082
DOI	10.1109/OCEANS.1997.634396
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-10-06
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Filtering Oceans Marine vehicles Sonar navigation Sea measurements Sea surface Sensor fusion Steady-state Vehicle dynamics Sampling methods
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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