Simon A. Hoff , Henrik M. Schmidt-Didlaukies , Erlend A. Basso , Damiano Varagnolo , Kristin Y. Pettersen
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引用次数: 0
Abstract
Autonomous underwater vehicles enable efficient underwater operations such as mapping, surveillance, and inspection. However, due to the lack of global navigation satellite systems (GNSS) signals, drift in pose estimates will occur over time. Common solutions to this issue are using either stationary or mobile beacons to provide range and possibly bearing measurements to bound the navigation error over time. However, this requires occupying communication bandwidth to get reliable round-trip range measurements. In this paper, we propose a system where a mobile beacon passively listens to communications from the underwater vehicle to estimate the position of the vehicle. We show that the estimation error is bounded over time through strategic movement of the mobile beacon.
期刊介绍：
All papers from IFAC meetings are published, in partnership with Elsevier, the IFAC Publisher, in theIFAC-PapersOnLine proceedings series hosted at the ScienceDirect web service. This series includes papers previously published in the IFAC website.The main features of the IFAC-PapersOnLine series are: -Online archive including papers from IFAC Symposia, Congresses, Conferences, and most Workshops. -All papers accepted at the meeting are published in PDF format - searchable and citable. -All papers published on the web site can be cited using the IFAC PapersOnLine ISSN and the individual paper DOI (Digital Object Identifier). The site is Open Access in nature - no charge is made to individuals for reading or downloading. Copyright of all papers belongs to IFAC and must be referenced if derivative journal papers are produced from the conference papers. All papers published in IFAC-PapersOnLine have undergone a peer review selection process according to the IFAC rules.
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