Geometric bounding techniques for underwater navigation


Morice, Colin and Veres, Sandor (2009) Geometric bounding techniques for underwater navigation. In, SYSID 2009, IFAC Symposium on System Identification and Parameter Estimation, Saint Malo, France, 06 - 08 Jul 2009. France, International Federation of Automatic Control, 1-6.

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Description/Abstract

This paper describes the application of geometric bounding techniques to navigation of an underwater vehicle. A technique is described for obtaining a fix of submersible position based on measurements of range from a supporting ship and the propagation of dead-reckoning errors. Also described is the estimation of bounds on a constant drift rate and the use of these
bounds in the determination of velocity sensor misalignment angle. An assessment is made of the accuracy to which navigational parameters can be estimated using these methods

Item Type: Conference or Workshop Item (Paper)
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Subjects: T Technology > TJ Mechanical engineering and machinery
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Q Science > QA Mathematics > QA76 Computer software
Divisions: University Structure - Pre August 2011 > School of Engineering Sciences > Fluid-Structure Interactions
University Structure - Pre August 2011 > School of Engineering Sciences > Electro-Mechanical Engineering
ePrint ID: 71621
Date Deposited: 16 Dec 2009
Last Modified: 27 Mar 2014 18:51
Publisher: International Federation of Automatic Control
URI: http://eprints.soton.ac.uk/id/eprint/71621

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