Title :
Simulated 3D underwater localization based on RF sensor model using EKF
Author :
Park, Daegil ; Kim, Jinhyun ; Chung, Wan Kyun
Author_Institution :
Dept. of Mech. Eng., POSTECH, Pohang, South Korea
Abstract :
The interest about underwater localization has been increased in various fields. Among the received signal strength indication (RSSI) type radio frequency (RF) sensor is an interesting possibility as an underwater sensor. This paper describes the sensor model relation between RSSI and distance. Also the three dimensional extended kalman filter (EKF) localization was simulated using RF sensor model.
Keywords :
Kalman filters; mobile robots; remotely operated vehicles; sensors; underwater vehicles; 3D underwater localization; EKF; RF sensor model; RSSI; extended Kalman filter; received signal strength indication; underwater sensor; Mathematical model; Radio frequency; Robot sensing systems; Simulation; Sonar; Vehicles; EKF; RF sensor; RSSI; localization; underwater;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location :
Incheon
Print_ISBN :
978-1-4577-0722-3
DOI :
10.1109/URAI.2011.6146033
