DocumentCode
358727
Title
Navigation for underwater vehicles based on asynchronous nonlinear estimation
Author
Alessandri, A. ; Coletta, P.
Author_Institution
Naval Autom. Inst., Nat. Res. Council of Italy, Genova, Italy
Volume
1
Issue
6
fYear
2000
fDate
36770
Firstpage
85
Abstract
An approach to navigation for underwater vehicles is proposed and is based on the idea of extending the so-called projection filter to systems with nonlinear dynamics. This extension enables one to design an observer for a class of nonlinear systems with asynchronous measurements. Sufficient conditions of convergence have been found. The proposed filter has been compared to other methods of estimation like the complementary filter and the extended Kalman filter
Keywords
control system synthesis; navigation; nonlinear dynamical systems; remotely operated vehicles; state estimation; three-term control; underwater vehicles; asynchronous nonlinear estimation; complementary filter; extended Kalman filter; projection filter; sufficient convergence conditions; Automation; Councils; Filters; Navigation; Nonlinear dynamical systems; Nonlinear systems; Sea measurements; Underwater tracking; Underwater vehicles; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2000. Proceedings of the 2000
Conference_Location
Chicago, IL
ISSN
0743-1619
Print_ISBN
0-7803-5519-9
Type
conf
DOI
10.1109/ACC.2000.878777
Filename
878777
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