A three dimensional localisation algorithm for a swarm of underwater vehicles is presented. The proposed approach is grounded on an extended Kalman filter (EKF) scheme used to fuse some proprioceptive data such as the vessel's speed and some esteroceptive measurement such as the time of flight (TOF) sonar distance of the companion vessels. The results of several simulations are presented. Some considerations about the available underwater bandwidth and the communication needed by the approach are discussed.

Three dimensional localisation in underwater swarms through a Kalman approach

Chiesa, S.;
2013

Abstract

A three dimensional localisation algorithm for a swarm of underwater vehicles is presented. The proposed approach is grounded on an extended Kalman filter (EKF) scheme used to fuse some proprioceptive data such as the vessel's speed and some esteroceptive measurement such as the time of flight (TOF) sonar distance of the companion vessels. The results of several simulations are presented. Some considerations about the available underwater bandwidth and the communication needed by the approach are discussed.
9789898565716
Mobile Robots and Intelligent Autonomous Systems;Sensor Fusion;Space and Underwater Robots;Distributed Control Systems
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.12079/5733
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