Relative position estimation for AUVs by fusing bearing and inertial rate sensor measurements

Oceans Conference Record (IEEE)

Volumn 3, Issue , 2002, Pages 1864-1871

  Huster, Andreas ^a   Frew, Eric W ^a   Rock, Stephen M ^a  

^a NONE

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CAMERAS; CLOSED LOOP CONTROL SYSTEMS; SENSORS;

INERTIAL RATE SENSORS;

REMOTELY OPERATED VEHICLES;

EID: 0037631154     PISSN: 01977385     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (19)

1. K. N. Leaboume, S. M. Rock, S. D. Fleischer, and R. L. Burton, "Station keeping of an ROV using vision technology," in Proceedings of the Oceans 97 Conference, Halifax, October 1997, MTS/IEEE, vol. 1, pp. 634-640.
2. R.L. Marks, S.M. Rock, and M.J. Lee, "Real-time video mosaicking of the ocean floor," IEEE Journal of Oceanic Engineering, vol. 20, no. 3, pp. 229-241, July 1995.
3. Andreas Huster and Stephen M. Rock, "Relative position estimation for intervention-capable AUVs by fusing vision and inertial measurements," in Proceedings of the 12th International Symposium on Unmanned Untethered Submersible Technology, Durham, NH, August 2001. Autonomous Undersea Systems Institute.
4. Eric W. Frew and Stephen M. Rock, "Exploratory motion generation for monocular vision-based target localization," in Proceedings of the 2002 IEEE Aerospace Conference, Big Sky, MT, March 2002.
5. Andreas Huster and Stephen M. Rock. "Relative position estimation for manipulation tasks by fusing vision and inertial measurement," in Proceedings of the Oceans 2001 Conference, Honolulu, November 2001, MTS/IEEE, vol. 2, pp. 1025-1031.
6. M. H. Wang, S. M. Rock, and M. J. Lee. "OTTER: The design and development of an intelligent underwater robot." Autonomous Robots, vol. 3, no. 2-3, pp. 297-320, June-July 1996.
7. Demoz Gebre-Egziabher, Design and Performance Analysis of a Low-Cost Aided Dead Reckoning Navigator, Ph.D. thesis. Stanford University, 2001, Chapter 3.
8. Arthur Gelb, Ed., Applied Optimal Estimation, The M.I.T. Press. Cambridge, Massachusetts, 1974.
9. Isaac Kaminer, Wei Kang, Oleg Yakimenko, and Antonio Pascoal, "Application of nonlinear filtering to navigation system design using passive sensors," IEEE Transactions on Aerospace and Electronic Systems, vol. 37, no. 1, pp. 158-172, January 2001.
10. Peter S. Maybeck, Stochastic Models, Estimation, and Control, vol. 2, Academic Press, New York, 1982.
11. Vincent J. Aidala and Sherry E. Hammel, "Utilization of modified polar coordinates for bearings-only tracking." IEEE Transactions on Automatic Control, vol. AC-28, no. 3. March 1983.
12. N. Jeremy Kasdin, "The two-step optimal estimator and example applications" in Guidance and Control 2000, Robert D. Culp and Eileen M. Dukes, Eds., San Diego, CA, 2000, American Astronautical Society, vol. 104 of Advances in the Astronomical Sciences, pp. 15-34. Univelt Incorporated.
13. Simon Julier, Jeffrey Uhlmann, and Hugh F. Durrant-Whyte, "A new method for the nonlinear transformation of means and covariances in filters and estimators," IEEE Transactions on Automatic Control, vol. 45, no. 3, pp. 477-482, March 2000.
14. Rudolph van der Merwe and Eric A. Wan, "The square-root unscented Kalman filter for state and parameter-estimation," in International Conference on Acoustics, Speech, and Signal Processing, Salt Lake City, Utah, May 2001, pp. 3461-3464.
15. A. Doucet, J. F. G. de Freitas, and N. J. Gordon, Eds., Sequential Monte Carlo Methods in Practice, Springer Verlag, New York, 2001.
16. Henrik Rehbinder and Xiaoming Hu, "Drift-free attitude estimation for accelerated rigid bodies," in IEEE International Conference on Robotics and Automation, Seoul, South Korea, May 2001, vol. 4, pp. 4244 - 4249.
17. Thomas Kailath, Ali H. Sayed, and Babak Hassibi, Linear Estimation, Prentice Hall, 2000.
18. Yaakov Oshman and Pavel Davidson, "Optimization of observer trajectories for bearings-only target localization," IEEE Transactions on Aerospace and Electronic Systems, vol. 35, no. 3, pp. 892-902, July 1999.
19. J. M. Passerieux and D. VanCappel, "Optimal observer maneuver for bearings-only tracking," IEEE Transactions on Aerospace and Electronic Systems, vol. 34, no. 3, pp. 777-788, July 1998.