{"title":"AUV Positioning and Motion Parameter Identification Based on Observations with Random Delays","authors":"A. V. Bosov","doi":"10.1134/S0005117924700413","DOIUrl":null,"url":null,"abstract":"<p>A stochastic observation system model with random time delays between an arriving observation and the factual state of a moving object is adapted to identify its motion parameters. Equations for optimal Bayesian identification are given. A conditionally minimax nonlinear filter (CMNF) is applied to solve the problem in practice. The design procedure of the CMNF, including the choice of the filter structure, is discussed in detail on an example of autonomous underwater vehicle (AUV) positioning based on observations of stationary acoustic beacons. A computational experiment is carried out on a model close to practical needs using three variants of the filter, namely, the typical approximation of the updating process, the method of linear pseudomeasurements, and the geometric interpretation of angular measurements.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":"85 12","pages":"1024 - 1040"},"PeriodicalIF":0.6000,"publicationDate":"2025-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Automation and Remote Control","FirstCategoryId":"94","ListUrlMain":"https://link.springer.com/article/10.1134/S0005117924700413","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
A stochastic observation system model with random time delays between an arriving observation and the factual state of a moving object is adapted to identify its motion parameters. Equations for optimal Bayesian identification are given. A conditionally minimax nonlinear filter (CMNF) is applied to solve the problem in practice. The design procedure of the CMNF, including the choice of the filter structure, is discussed in detail on an example of autonomous underwater vehicle (AUV) positioning based on observations of stationary acoustic beacons. A computational experiment is carried out on a model close to practical needs using three variants of the filter, namely, the typical approximation of the updating process, the method of linear pseudomeasurements, and the geometric interpretation of angular measurements.
期刊介绍：
Automation and Remote Control is one of the first journals on control theory. The scope of the journal is control theory problems and applications. The journal publishes reviews, original articles, and short communications (deterministic, stochastic, adaptive, and robust formulations) and its applications (computer control, components and instruments, process control, social and economy control, etc.).
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