Towards on-line underwater vehicle trajectory estimation using diffusion-based observers

Jerome Jouffroy, Tu Duc Nguyen

Publikation: Bidrag til bog/antologi/rapportKonferenceartikel i proceedingpeer review


This work extends previous work (Jouffroy and Opderbecke, 2004) on the estimation of underwater vehicle trajectories using Gyro-Doppler (body-fixed velocities) and acoustic signals (earth-fixed positions). The approach consists of diffusion-based observers processing a whole trajectory segment at a time, allowing the consideration of important practical problems such as different information update rates, outages, and outliers in a very simple framework. We detail issues related to real-time applications, such as implementation and convergence. A theorem guaranteeing stability of the observer and simulation examples are given.
TitelIEEE Marine Technology and Ocean Science Conference (Oceans'04), Kobe, Japan, 24/08/2010
StatusUdgivet - 2004
Udgivet eksterntJa


  • Teknik, ingeniørvidenskab og IT