DocumentCode :
2905769
Title :
Controlled Lagrangian particle tracking error under biased flow prediction
Author :
Szwaykowska, Klementyna ; Fumin Zhang
Author_Institution :
Georgia Inst. of Techonology, Atlanta, GA, USA
fYear :
2013
fDate :
17-19 June 2013
Firstpage :
2575
Lastpage :
2580
Abstract :
In this paper we model the controlled Lagrangian particle tracking (CLPT) error for marine vehicles moving in an ocean flow field, with guidance from ocean models. We linearize the error about the nominal modeled trajectory of the system and derive an exact expression for the linearized error in the case of constant modeled ocean flow. We show that this simple error model can be used to estimate error in predicted positions of autonomous vehicles, using data from a field deployment of autonomous underwater gliders in Long Bay, SC, in winter 2012.
Keywords :
autonomous underwater vehicles; marine control; CLPT; autonomous underwater gliders; autonomous vehicles; biased flow prediction; constant modeled ocean flow; controlled Lagrangian particle tracking error; linearized error model; marine vehicles; nominal modeled trajectory; ocean flow field; ocean models; Computational modeling; Frequency modulation; Mathematical model; Oceans; Predictive models; Trajectory; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference (ACC), 2013
Conference_Location :
Washington, DC
ISSN :
0743-1619
Print_ISBN :
978-1-4799-0177-7
Type :
conf
DOI :
10.1109/ACC.2013.6580222
Filename :
6580222
Link To Document :
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