2012
DOI: 10.1007/s10846-012-9766-6
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Underwater Vehicle Localization with Complementary Filter: Performance Analysis in the Shallow Water Environment

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Cited by 38 publications
(17 citation statements)
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“…where E[·] represents the expectation operation, and ϕ is an arbitrary element of Θ, and Θ (−ϕ) is the set of all elements in Θ except for ϕ, and c ϕ denotes the constant with respect to variable ϕ. Since the variational parameters are coupled, we need to employ fixed-point iterations to solve (12), where the approximate posterior PDF q(ϕ) of the arbitrary element ϕ is updated as q (i+1) (ϕ) at the i + 1th iteration using the approximate posterior PDF q (i) (Θ (−ϕ) ) [24]. The iterations converge to a local optimum of (12).…”
Section: A New Outlier-robust Student's T Based Ga Filtermentioning
confidence: 99%
See 1 more Smart Citation
“…where E[·] represents the expectation operation, and ϕ is an arbitrary element of Θ, and Θ (−ϕ) is the set of all elements in Θ except for ϕ, and c ϕ denotes the constant with respect to variable ϕ. Since the variational parameters are coupled, we need to employ fixed-point iterations to solve (12), where the approximate posterior PDF q(ϕ) of the arbitrary element ϕ is updated as q (i+1) (ϕ) at the i + 1th iteration using the approximate posterior PDF q (i) (Θ (−ϕ) ) [24]. The iterations converge to a local optimum of (12).…”
Section: A New Outlier-robust Student's T Based Ga Filtermentioning
confidence: 99%
“…In practical cooperative localization, outlier measurements of velocity and range may occur, which can induce heavy-tailed non-Gaussian process and measurement noises respectively. The outlier measurements of velocity occur when the Doppler velocity log (DVL) is physically misaligned with the body framework or when water lock occurs [12]. The outlier measurements of range are predominantly caused by the multiple acoustic propagation paths between source and receiver that are induced by the refraction of sound waves due to changes in sound speed with depth and reflections off the surface and sea bed [13].…”
Section: Introductionmentioning
confidence: 99%
“…In these situations, a single ping by an acoustic beacon can be detected as a complex sequence of arrivals [1]. The work in [31] about underwater vehicle localization provides further examples of measurements from USBL and DVL susceptible to successive outliers especially in shallow waters. In such a case, numerical tests have confirmed a better performance of the LEL filter as compared with the rLS.AO.…”
Section: Synthetic Data: Comparison With An Alternative Robust Kalmanmentioning
confidence: 99%
“…Accurate positioning of surface and airborne vehicles such as ships and airplanes is possible using Global Navigation Satellite Systems (GNSS) such as the Global Positioning System (GPS) (Grenon et al, 2001). However, since GPS signals do not penetrate beneath the water, this system cannot be used in underwater vehicles (Yun et al, 1999; Vasilijevic et al, 2012). For this reason, Inertial Navigation Systems (INS) are utilised as an alternative solution in many underwater applications (Titterton and Weston, 2004).…”
Section: Introductionmentioning
confidence: 99%