MOTION ESTIMATION AND MODELING OF THE ENVIRONMENT FOR UNDERWATER VEHICLES

Authors
CRISTI R CACCIA M VERUGGIO G
Citation
R. Cristi et al., MOTION ESTIMATION AND MODELING OF THE ENVIRONMENT FOR UNDERWATER VEHICLES, International Journal of Systems Science, 29(10), 1998, pp. 1135-1143
Citations number
12
Categorie Soggetti
Computer Science Theory & Methods","Operatione Research & Management Science","Computer Science Theory & Methods","Operatione Research & Management Science","Robotics & Automatic Control
Journal title
International Journal of Systems Science → ACNP
ISSN journal
00207721
Volume
29
Issue
10
Year of publication
1998
Pages
1135 - 1143
Database
ISI
SICI code
0020-7721(1998)29:10<1135:MEAMOT>2.0.ZU;2-D
Abstract
The problem of localizing an underwater vehicle in a structure environ ment using sonar returns and measured acceleration is addressed. In pa rticular the environment is modeled as a sequence of segments with con stant orientation. the combined estimation of the vehicle motion and t he orientation of the segments is obtained using an extended Kalman fi lter based on a suitable state-space model. Several experiments in the test tank show the effectiveness of this technique.