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ICRA
2010
IEEE

Observability analysis of relative localization for AUVs based on ranging and depth measurements

8 years 3 months ago
Observability analysis of relative localization for AUVs based on ranging and depth measurements
— The paper studies the observability properties of the relative localization of two Autonomous Underwater Vehicles (AUVs) equipped with depth sensors, linear/angular velocity sensors, and communication devices with range measurement. The conditions that ensure observability of the linearized model and locally weak observability of the nonlinear system are derived. An Extended Kalman Filter is then designed aimed at estimating the relative position between two AUVs. Simulations in 3D and reconstruction from experimental data in 2D provide a numerical validation of the analysis.
Gianluca Antonelli, Filippo Arrichiello, Stefano C
Added 26 Jan 2011
Updated 26 Jan 2011
Type Journal
Year 2010
Where ICRA
Authors Gianluca Antonelli, Filippo Arrichiello, Stefano Chiaverini, Gaurav S. Sukhatme
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