MMAE Terrain Reference Navigation for Underwater Vehicles using Eigen Analysis

Author

Oliveira, P.

Author_Institution

Instituto Superior Técnico and Instituto de Sistemas e Robótica, Torre Norte, 8° andar, 1096-001 Lisboa, Portugal. pjcro@isr.ist.utl.pt

fYear

2005

fDate

12-15 Dec. 2005

Firstpage

5468

Lastpage

5473

Abstract

The integration of a feature based positioning sensor, rooted on Principal Component Analysis, with a Multi-Model Adaptive Estimator for Terrain Reference Navigation of Underwater Vehicles is proposed and discussed in detail. Resorting to a nonlinear Lyapunov transformation, the synthesis and analysis of each of the nonlinear multirate H2estimators is presented with overall guaranteed stability and optimal performance over equilibrium trajectories. Results from Monte Carlo simulation techniques to assess the performance of both the proposed feature based positioning sensor and estimation tools are included.

Keywords

Kalman Filters; MMAE; Navigation Systems; Robot Navigation; Time-varying Systems; Degradation; Laser radar; Navigation; Packaging; Principal component analysis; Robot sensing systems; Sensor phenomena and characterization; Sensor systems; Time varying systems; Underwater vehicles; Kalman Filters; MMAE; Navigation Systems; Robot Navigation; Time-varying Systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on

Print_ISBN

0-7803-9567-0

Type

conf

DOI

10.1109/CDC.2005.1583032

Filename

1583032