2020
DOI: 10.1007/s12555-019-0684-2
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Hybrid Observer Concept for Sensor Fusion of Sporadic Measurements for Underwater Navigation

Abstract: Accurate underwater navigation systems are required for closed-loop guidance and control of unmanned underwater vehicles (UUV). This paper proposes a sensor-based hybrid translational observer concept for underwater navigation using the hybrid dynamical systems framework, accounting for noisy, asynchronous and sporadic sensor measurements. Sensor measurements from an acoustic positioning system, a Doppler Velocity Log (DVL), an Inertial Measurement Unit (IMU) and a pressure gauge are used in the proposed obser… Show more

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Cited by 2 publications
(1 citation statement)
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“…This solution proved its benefit in mining applications, allowing an operator to control the mining vehicle utilising virtual reality depiction. A final addition is the sensor fusion of an acoustic positioning system, the DVL, the IMU and a pressure gauge that was presented in [12]. The authors of this research proposed a hybrid translational observer concept for underwater navigation.…”
Section: Introductionmentioning
confidence: 99%
“…This solution proved its benefit in mining applications, allowing an operator to control the mining vehicle utilising virtual reality depiction. A final addition is the sensor fusion of an acoustic positioning system, the DVL, the IMU and a pressure gauge that was presented in [12]. The authors of this research proposed a hybrid translational observer concept for underwater navigation.…”
Section: Introductionmentioning
confidence: 99%