Geometric bounding techniques for underwater navigation
Geometric bounding techniques for underwater navigation
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
1-6
Morice, Colin
9f41d0b3-aa7b-4688-95c1-1dbfe88a1c77
Veres, Sandor
909c60a0-56a3-4eb6-83e4-d52742ecd304
6 July 2009
Morice, Colin
9f41d0b3-aa7b-4688-95c1-1dbfe88a1c77
Veres, Sandor
909c60a0-56a3-4eb6-83e4-d52742ecd304
Morice, Colin and Veres, Sandor
(2009)
Geometric bounding techniques for underwater navigation.
SYSID 2009, IFAC Symposium on System Identification and Parameter Estimation, Saint Malo, France.
05 - 07 Jul 2009.
.
Record type:
Conference or Workshop Item
(Paper)
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
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Published date: 6 July 2009
Venue - Dates:
SYSID 2009, IFAC Symposium on System Identification and Parameter Estimation, Saint Malo, France, 2009-07-05 - 2009-07-07
Organisations:
Fluid Structure Interactions Group
Identifiers
Local EPrints ID: 71621
URI: http://eprints.soton.ac.uk/id/eprint/71621
PURE UUID: f1155965-ec6d-4b16-97a9-1a868bf8d37e
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Date deposited: 16 Dec 2009
Last modified: 08 Jan 2022 08:31
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Contributors
Author:
Colin Morice
Author:
Sandor Veres
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