Joint positioning and navigation aiding system for underwater robots

OCEANS 2008

Volumn , Issue , 2008, Pages

  Sousa, R ^a   Alcocer, A ^a   Oliveira, P ^a   Ghabcheloo, R ^a   Pascoal, A ^a  

^a INSTITUTO SUPERIOR TÉCNICO   (Portugal)

Author keywords

[No Author keywords available]

Indexed keywords

ACOUSTIC MODEM; ACOUSTIC PULSE; ACOUSTIC SIGNALS; AIDING SYSTEM; CLOCK BIAS; DYNAMIC TARGET; ELECTRONIC CIRCUITRY; GPS RECEIVERS; INTEGRATED NAVIGATION SYSTEMS; LOCAL NAVIGATION; LOCAL POSITIONING SYSTEM; MOTION DATA; SIMULATION RESULT; SURFACE BUOY; TIME INTERVAL; TIMES OF ARRIVALS; UNDERWATER ROBOTS; UNDERWATER TARGET;

ACOUSTIC RECEIVERS; ACOUSTIC WAVES; BUOYS; CLOCKS; GLOBAL POSITIONING SYSTEM; NAVIGATION; NAVIGATION SYSTEMS; OCEANOGRAPHY; TARGETS; VEHICLE LOCATING SYSTEMS;

UNDERWATER ACOUSTICS;

EID: 70350134083     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/OCEANS.2008.5151899     Document Type: Conference Paper

References (11)

1. ACSA, ORCA. Trajectographe GIB Manuel Utilisateur, 1999.
2. A. Alcocer, P. Oliveira, and A. Pascoal. Study and implementation of an ekf gib-based underwater positioning system. Control Engineering Practice, 15:689-701, Junho 2006.
3. J. Farrell and M. Livstone. Exact calculations of discrete-time process noise statistics forhybrid continuous/discrete time applications. Proceedings of the 32nd IEEE Conference on Decision and Control, 1:857 - 858, Dezembro 1993.
4. A. Gelb. Applied Optimal Estimation. M.I.T. Press, 1974.
5. J. C. Kinsey and L. L. Whitcomb. In situ alignment calibration of attitude and doppler sensors for precision underwater vehicle navigation: theory and experiment. IEEE Journal of Oceanic Engineering, 32(2):286 -299, 2007.
6. X. Rong Li and V. J. Jilkov. Survey of maneuvering target tracking. part i. dynamic models. Aerospace and Electronic Systems, IEEE Transactions, 41:1255 - 1321, Outubro 2005.
7. P.H. Milne. Underwater Acoustic Positioning Systems. Gulf Publishing Company, 1983.
8. M. Morgado, P. Oliveira, C. Silvestre, and J. F. Vasconcelos. Vehicle dynamics aiding technique for usbl/ins underwater navigation system. IFAC Conference on Control Applications in Marine Systems CAMS07, 2007.
9. P. Oliveira. Mmae terrain reference navigation for underwater vehicles using pca. International Journal of Control, 80(7):1008-1027, 2007.
10. H. G. Thomas. Gib buoys: an interface between space and depths of the oceans. Proceedings Of The 1998 Workshop on Autonomous Underwater Vehicles, pages 181-184, 1998.
11. K. Vickery. Acoustic positioning systems. a practical overview of current systems. Autonomous Underwater Vehicles, 1998.