Integrated Positioning System For Auv

• Autorzy: Kaniewski P.
• Języki publikacji: EN

Abstrakty

EN

The paper presents a design of integrated positioning system for AUV. The system is composed of IMU, electronic compass, Doppler velocity log and depth sensor and is integrated according to the scheme of feed-forward compensation. A Kalman filter and a traditional complementary filter are used for joint data processing. Chosen simulation results of the system are included in the paper.

Słowa kluczowe

EN

AUV; autonomous underwater vehicle; Kalman filter; positioning

• Wydawca: Silesian Division of Polish Acoustical Society
• Czasopismo: Molecular and Quantum Acoustics
• Rocznik: 2005
• Tom: Vol. 26
• Strony: 115--128
• Opis fizyczny: Bibliogr. 11 poz., rys.

Twórcy

autor

Kaniewski P.

• Military University of Technology, 2, Gen. S. Kaliski St., 00-908 Warsaw, Poland,

Bibliografia

• 1. P.E. An, OCEANS 2003 IEEE Conference, Vol. 2, 654-662 (2003).
• 2. B.D.O. Anderson, J.B. Moore, Optimal filtering, Prentice-Hall Inc., USA, 1979.
• 3. R.G. Brown, P.Y.C. Hwang, Introduction to random signals and applied Kalman filtering, John Wiley & Sons, Inc., USA, 1997.
• 4. G. Grenon, P.E. An, S.M. Smith, A.J. Healey, IEEE Journal of Oceanic Engineering, Vol. 26, No. 4, 548-560 (2001).
• 5. M.S. Grewal, L.R. Weill, A.P. Andrews, Global Positioning Systems, Inertial Navigation and Integration, John Wiley & Sons, Inc., USA, 2001.
• 6. M. Kayton, W.R. Fried, Avionics Navigation Systems, John Wiley & Sons, USA, 1997.
• 7. R. McEwen, T. Hank, D. Weber, F. Psota, IEEE Journal of Oceanic Engineering, Vol. 30, No. 2, 443-454 (2005).
• 8. G. Minkler, J. Minkler, Theory and Application of Kalman Filtering, Magellan Book Company, USA, 1993.
• 9. O. Salychev, Inertial Systems in Navigation and Geophysics, Bauman MSTU Press, Russia, 1998.
• 10. R.P. Stokey, T. Austin, OCEANS 2000 MTS/IEEE Conference and Exhibition, Vol. 3, 2115-2121 (2000).
• 11. Y. Xiaoping, E.R. Bachmann, S. Arslan, ICRA'00 IEEE International Conference on Robotics and Automation, Vol. 2, 1781-1786 (2000).