Title :
Autonomous navigation with sparse reference points
Author :
Lourtie, Isabel M G ; Rendas, M. João
Author_Institution :
Dept. of Electr. & Comput. Eng., Inst. Superior Tecnico, Lisbon, Portugal
Abstract :
This paper presents a navigation system for an autonomous underwater vehicle (AUV) that allows long range navigation by combining two distinct modes: local positioning with respect to a long baseline array of known localization (reference points) and autonomous mode in-between reference points, relying only on sonar/Doppler and depth information. In both modes, a Kalman based design approach was chosen. The performance of the proposed architecture is analyzed by Monte Carlo simulation considering a typical manoeuvring operation
Keywords :
Doppler measurement; Doppler radar; Kalman filters; Monte Carlo methods; navigation; sonar; velocity measurement; Doppler information; Kalman based design approach; Monte Carlo simulation; architecture; autonomous navigation; autonomous underwater vehicle; depth information; local positioning; long baseline array; long range navigation; manoeuvring operation; reference points; sonar; sparse reference points; Delay estimation; Global Positioning System; Kalman filters; Performance analysis; Remotely operated vehicles; Robots; Sonar navigation; Text recognition; Transponders; Underwater vehicles;
Conference_Titel :
OCEANS '94. 'Oceans Engineering for Today's Technology and Tomorrow's Preservation.' Proceedings
Conference_Location :
Brest
Print_ISBN :
0-7803-2056-5
DOI :
10.1109/OCEANS.1994.364234
