Show simple item record

dc.contributor.authorBayat, M.
dc.contributor.authorCrasta, N.
dc.contributor.authorAguiar, A.P.
dc.contributor.authorPascoal, A.M.
dc.date.accessioned2016-03-09T10:05:30Z
dc.date.available2016-03-09T10:05:30Z
dc.date.issued2016
dc.identifier.citationIEEE Transactions on Control Systems Technology, vol.24(1); 2016; 122-139
dc.identifier.urihttp://drs.nio.org/drs/handle/2264/4927
dc.description.abstractThis paper addresses the problem of range-based autonomous underwater vehicle (AUV) localization in the presence of unknown ocean currents. In the setup adopted, the AUV is equipped with an attitude and heading reference system, a depth sensor, and an acoustic device that provides measurements of its distance to a set of stationary beacons. We consider the situation where the number of active beacons is not known in advance and may vary with time. The objective is to simultaneously localize the AUV and beacons, that is, to find their positions underwater. We start by deriving conditions under which it is possible to reconstruct the initial condition of the system under study. We consider the design model where the states evolve continuously with time, but the range measurements are only available at discrete instants of time, possibly in a nonuniform manner. For trimming maneuvers that correspond to AUV trajectories with constant linear and angular velocities expressed in the body frame, we show that if either the position of one of the beacons or the initial position of the AUV is known, then even without depth information the system is weakly observable (i.e., the set of states that are indistinguishable from a given initial configuration contains only a set of finite isolated points). If depth measurements are also available, then the system is observable even in the presence of unknown constant ocean currents. Equipped with these results, we then propose a novel observer for simultaneous AUV and beacon localization. The mathematical setup exploited borrows from minimum-energy estimation theory applied to continuous-time processes with discrete measurements, projection filters, and multiple-model estimation techniques. Convergence analysis of the resulting observer system yields conditions under which the estimation errors converge to a small neighborhood of the origin (whose size depends on the magnitude of the process and measurement noise). The results of field experiments with a robotic marine vehicle show the efficacy of the simultaneous AUV/multiple beacon localization system proposed
dc.language.isoen
dc.publisherIEEE
dc.rights"©2016 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE."
dc.subjectOCEANOGRAPHIC SUPPORT SERVICES
dc.subjectOCEANOGRAPHY AND LIMNOLOGY
dc.subjectMARINE TECHNOLOGY
dc.subjectOCEANOGRAPHY AND LIMNOLOGY
dc.subjectOCEANOGRAPHY AND LIMNOLOGY
dc.titleRange-based underwater vehicle localization in the presence of unknown ocean currents: Theory and experiments
dc.typeJournal Article


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record