Study and implementation of an EKF GIB-based underwater positioning system

Alcocer, Alex; Oliveira, Paulo; Pascoal, António

doi:10.1016/j.conengprac.2006.04.001

Cited by 118 publications

(37 citation statements)

References 6 publications

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“…223254. filters for underwater navigation using LBL measurements are suggested in Batista (2015), Batista (2014), and a globally asymptotically stable (GAS) filter is suggested in Batista et al (2010). Some classical approaches for underwater navigation using LBL measurements can be found in Vaganay et al (1998), Bell et al (1991), Alcocer et al (2007), Kinsey and Whitcomb (2004) and Whitcomb et al (1999).…”

Section: Globally Exponentially Stable (Ges)mentioning

confidence: 99%

“…The first is employing the pseudo-ranges as measurement equations, and using an estimator for nonlinear systems such as the Extended Kalman Filter (EKF) where a local approximate linearization of the measurement model is applied (Alcocer et al (2007)) or a particle filter (Ko et al (2012)). The second type of solution is employing a globally valid nonlinear transform or an optimization problem to express the measurements in a linear form with respect to the states in the filter.…”

Section: Globally Exponentially Stable (Ges)mentioning

confidence: 99%

See 1 more Smart Citation

Enhanced Hydroacoustic Range Robustness of Three-Stage Position Filter based on Long Baseline Measurements with Unknown Wave Speed**This work is supported by the Center of Autonomous Marine Operations and Systems (AMOS), grant no. 223254.

2016

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This paper considers the problem of constructing a globally convergent positionand velocity estimator with close-to-optimal noise properties using hydroacoustic long baseline measurements. Three ways of improving the range robustness of the three stage filter for long baseline measurements with unknown wave speed are suggested. One addition is employing depth measurements in addition to pseudo-range measurements, thus increasing range noise robustness and relaxing requirements for transponder placement from not co-planar to not colinear. Furthermore, a Kalman Filter with a linear measurement model is used, instead of a pseudo-linear time-varying measurement model and a step solving an optimization problem is also added. The proposed scheme is validated through simulation and compared to a standard Extended Kalman Filter and a perfect (non-implementable) Linearized Kalman Filter using real states as linearization point. Simulations suggest that the improved three stage filter will have similar stationary performance as the EKF while having significantly better transient performance and stability subjected to inaccurate initial estimates.

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Section: Globally Exponentially Stable (Ges)mentioning

confidence: 99%

Section: Globally Exponentially Stable (Ges)mentioning

confidence: 99%

Enhanced Hydroacoustic Range Robustness of Three-Stage Position Filter based on Long Baseline Measurements with Unknown Wave Speed**This work is supported by the Center of Autonomous Marine Operations and Systems (AMOS), grant no. 223254.

2016

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“…However, the dropouts and outlier of the acoustic positioning system should be carefully dealt with due to acoustic path screening, partial system failure, and multipath effects. See (Vagannay et al, 1996)for a treatment and discussion on this challenging topic, and (Alcocer et al, 2004) also gives an intensive study to deal with the dropouts and outliers in real time.…”

Section: Cooperative Acoustic Navigation Scheme For Auvsmentioning

confidence: 99%

Cooperative Acoustic Navigation Scheme for Heterogenous Autonomous Underwater Vehicles

Xiang¹,

Lapierre²,

Jouvencel³

et al. 2009

Underwater Vehicles

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“…It is important to observe that the performance of any of these methods depends on the accuracy of the range measurements, which are often subject to sensor noise and only available at discrete times. To cope with this limitation, an extended Kalman filter, such as the one proposed in Alcocer et al (2007), can be useful as part of a range based formation keeping algorithm. A similar approach has been proposed for merging inertial and range information for localization purposes (e.g.…”

Section: Introductionmentioning

confidence: 99%

Flexible triangular formation keeping of marine robotic vehicles using range measurements 1

Rego

Soares

Pascoal

et al. 2014

IFAC Proceedings Volumes

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This paper addresses the problem of keeping an autonomous marine vehicle in a moving triangular formation by regulating its position with respect to two leader vehicles. The follower vehicle has no prior knowledge of the path described by the leaders but has access to their heading angle and is able to measure inter-vehicle ranges. It is assumed that the distance between the leaders is constant and known. A control strategy is adopted that generates speed and heading commands so as to drive suitably defined along track and cross track errors to zero. The commands are used as input to local inner loops for yaw and speed control. The paper describes the algorithms derived for range-based control and assesses their performance in simulations using realistic models of the vehicles involved. Tests with three autonomous marine vehicles equipped with acoustic modems and ranging devices allow for the evaluation of the performance of the algorithms in a real-world situation.

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Study and implementation of an EKF GIB-based underwater positioning system

Cited by 118 publications

References 6 publications

Enhanced Hydroacoustic Range Robustness of Three-Stage Position Filter based on Long Baseline Measurements with Unknown Wave Speed**This work is supported by the Center of Autonomous Marine Operations and Systems (AMOS), grant no. 223254.

Enhanced Hydroacoustic Range Robustness of Three-Stage Position Filter based on Long Baseline Measurements with Unknown Wave Speed**This work is supported by the Center of Autonomous Marine Operations and Systems (AMOS), grant no. 223254.

Cooperative Acoustic Navigation Scheme for Heterogenous Autonomous Underwater Vehicles

Flexible triangular formation keeping of marine robotic vehicles using range measurements 1

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