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Author(s): Aníbal Matos
Nuno Cruz
Title: Algorithms for external tracking of an AUV
Issue Date: 2004
Abstract: In this paper we describe the algorithms used in the external trackingsystem of the Isurus AUV. By listening to the acoustic signals exchanged betweenthe vehicle and the beacons of the acoustic navigation network, the tracking systemis able to obtain distance measurements from the vehicle to each beacon, that arethen used to compute the vehicle horizontal position. Several error sources makethese measurements inadequate to be used for computing the vehicle positionby a simple triangulation technique. The tracking algorithms described here areable to reject highly erroneous measurements, producing position estimates witha satisfactory degree of accuracy.
Subject: Engenharia electrotécnica, electrónica e informática
Source: Proceedings of 5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2004)
Document Type: Artigo em Livro de Atas de Conferência Internacional
Rights: openAccess
Appears in Collections:FEUP - Artigo em Livro de Atas de Conferência Internacional

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