NDLI: Identification of a low-complexity flow field model for AUV applications

Content Provider	IEEE Xplore Digital Library
Author	Petrich, J. Woolsey, C.A. Stilwell, D.J.
Copyright Year	2005
Description	Author affiliation: Bradley Dept. of Electr. & Comput. Eng.,, Virginia Polytech. Inst. & State Univ., Blacksburg, VA (Petrich, J.)
Abstract	This paper presents identification algorithms for a low-dimensional planar flow model composed of a uniform flow component and a singular flow component. With the aim of improving navigation for small autonomous underwater vehicles operating in shallow water, we develop algorithms that can be performed in near real-time using small, sparse data sets. Although we compare several variations, the basic approach involves identifying the uniform flow component, the location of an assumed singularity, and the parameters which characterize the singular flow. In one variation, the flow model parameters are simply chosen to minimize a square error measure. In another variation, the minimization process is constrained to preserve the average divergence and circulation of the measured flow. The latter approach predictably results in a larger error, but produces a flow model which more realistically captures the flow in the larger region of the measurement points. Initial experimental results are presented
Starting Page	1595
Ending Page	1602
File Size	317676
Page Count	8
File Format	PDF
ISBN	0933957343
DOI	10.1109/OCEANS.2005.1639984
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-09-17
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Sea measurements Navigation Fluid flow measurement Fluid flow Oceans Underwater vehicles Lagrangian functions Application software Large-scale systems Time varying systems
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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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
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