Title :
Underwater navigation in the presence of unknown currents based on range measurements from a single location
Author :
Gadre, Aditya S. ; Stilwell, Daniel J.
Author_Institution :
Bradley Dept. of Electr. & Comput. Eng., Virginia Polytech. Inst. & State Univ., Blacksburg, VA, USA
Abstract :
An underwater navigation algorithm is considered that enables an underwater vehicle to compute its trajectory in the presence of unknown currents by utilizing range measurements from a single known location. There exists a small set of trajectories for which the algorithm does not converge. By assessing local observability about potential vehicle trajectories, we characterize those trajectories that cannot be asymptotically estimated. The navigation algorithm is illustrated using computer simulation and a hardware experiment.
Keywords :
control system analysis computing; navigation; position control; predictive control; underwater vehicles; computer simulation; hardware experiment; navigation algorithm; range measurements; trajectory computation; underwater navigation; underwater vehicle; Acoustic pulses; Current measurement; Electric variables measurement; Estimation error; Hardware; Kinematics; Navigation; Remotely operated vehicles; Turning; Underwater vehicles;
Conference_Titel :
American Control Conference, 2005. Proceedings of the 2005
Print_ISBN :
0-7803-9098-9
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2005.1470032