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Cooperative localization of AUVs using moving horizon estimation

Wang, S and Chen, L and Gu, D and Hu, H (2014) 'Cooperative localization of AUVs using moving horizon estimation.' IEEE/CAA Journal of Automatica Sinica, 1 (1). pp. 68-76. ISSN 2329-9266

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This paper studies the localization problem of autonomous underwater vehicles (AUVs) constrained by limited size, power and payload. Such AUVs cannot be equipped with heavy sensors which makes their underwater localization problem difficult. The proposed cooperative localization algorithm is performed by using a single surface mobile beacon which provides range measurement to bound the localization error. The main contribution of this paper is twofold: 1) The observability of single beacon based localization is first analyzed in the context of nonlinear discrete time system, deriving a sufficient condition on observability. It is further compared with observability of linearized system to verify that a nonlinear state estimation is necessary. 2) Moving horizon estimation is integrated with extended Kalman filter (EKF) for three dimensional localization using single beacon, which can alleviate the computational complexity, impose various constraints and make use of several previous range measurements for each estimation. The observability and improved localization accuracy of the localization algorithm are verified by extensive numerical simulation compared with EKF.

Item Type: Article
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health
Faculty of Science and Health > Computer Science and Electronic Engineering, School of
SWORD Depositor: Elements
Depositing User: Elements
Date Deposited: 22 Jul 2015 14:55
Last Modified: 14 Jan 2022 22:01

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