Diffusion-based trajectory observers with variance constraints

A. Alcocer; J. Jouffroy; P. Oliveira; A. Pascoal

Diffusion-based trajectory observers with variance constraints

A. Alcocer
, J. Jouffroy
, P. Oliveira
, A. Pascoal

Institute for Systems and Robotics, Lisbon, Portugal
University of Southern Denmark

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution to proceeding › peer-review

Abstract

This paper studies the position estimation of an underwater vehicle using a single acoustic transponder. The chosen estimation approach is based on nonlinear differential algebraic methods which allow to express very simply conditions for observability. These are then used in combination with an integrator-based time-derivative estimation technique to design an algebraic estimator, which, contrary to asymptotic observers, does not require sometimes tedious convergence verification. Simple simulation results are presented to illustrate the approach.

Original language	English
Title of host publication	IFAC Proceedings Volumes (IFAC-PapersOnline)
Publication date	2007
Publication status	Published - 2007
Externally published	Yes

Keywords

technology, engineering and IT

Cite this

@inproceedings{db338ce6d38e4b29848247068af34539,

title = "Diffusion-based trajectory observers with variance constraints",

abstract = "This paper studies the position estimation of an underwater vehicle using a single acoustic transponder. The chosen estimation approach is based on nonlinear differential algebraic methods which allow to express very simply conditions for observability. These are then used in combination with an integrator-based time-derivative estimation technique to design an algebraic estimator, which, contrary to asymptotic observers, does not require sometimes tedious convergence verification. Simple simulation results are presented to illustrate the approach.",

keywords = "technology, engineering and IT, Diffusion-based observers, Underwater navigation",

author = "A. Alcocer and J. Jouffroy and P. Oliveira and A. Pascoal",

year = "2007",

language = "English",

booktitle = "IFAC Proceedings Volumes (IFAC-PapersOnline)",

}

TY - GEN

T1 - Diffusion-based trajectory observers with variance constraints

AU - Alcocer, A.

AU - Jouffroy, J.

AU - Oliveira, P.

AU - Pascoal, A.

PY - 2007

Y1 - 2007

N2 - This paper studies the position estimation of an underwater vehicle using a single acoustic transponder. The chosen estimation approach is based on nonlinear differential algebraic methods which allow to express very simply conditions for observability. These are then used in combination with an integrator-based time-derivative estimation technique to design an algebraic estimator, which, contrary to asymptotic observers, does not require sometimes tedious convergence verification. Simple simulation results are presented to illustrate the approach.

AB - This paper studies the position estimation of an underwater vehicle using a single acoustic transponder. The chosen estimation approach is based on nonlinear differential algebraic methods which allow to express very simply conditions for observability. These are then used in combination with an integrator-based time-derivative estimation technique to design an algebraic estimator, which, contrary to asymptotic observers, does not require sometimes tedious convergence verification. Simple simulation results are presented to illustrate the approach.

KW - technology, engineering and IT

KW - Diffusion-based observers

KW - Underwater navigation

UR - https://www.scopus.com/pages/publications/79960919770

M3 - Conference contribution to proceeding

BT - IFAC Proceedings Volumes (IFAC-PapersOnline)

ER -

Diffusion-based trajectory observers with variance constraints

Abstract

Keywords

Other files and links

Cite this