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https://hdl.handle.net/10216/69983| 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 tracking system of the Isurus AUV. By listening to the acoustic signals exchanged between the vehicle and the beacons of the acoustic navigation network, the tracking system is able to obtain distance measurements from the vehicle to each beacon, that are then used to compute the vehicle horizontal position. Several error sources make these measurements inadequate to be used for computing the vehicle position by a simple triangulation technique. The tracking algorithms described here are able to reject highly erroneous measurements, producing position estimates with a satisfactory degree of accuracy. |
| Subject: | Engenharia electrotécnica, electrónica e informática Electrical engineering, Electronic engineering, Information engineering |
| Scientific areas: | Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática Engineering and technology::Electrical engineering, Electronic engineering, Information engineering |
| URI: | https://hdl.handle.net/10216/69983 |
| Source: | Proceedings of 5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2004) |
| Document Type: | Artigo em Livro de Atas de Conferência Internacional |
| Rights: | openAccess |
| License: | https://creativecommons.org/licenses/by-nc/4.0/ |
| Appears in Collections: | FEUP - Artigo em Livro de Atas de Conferência Internacional |
This item is licensed under a Creative Commons License
