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Single beacon based localization of AUVs using moving Horizon estimation

Sen Wang, and Ling Chen, and Huosheng Hu, and Dongbing Gu, (2013) Single beacon based localization of AUVs using moving Horizon estimation. In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), 2013-11-03 - 2013-11-07.

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Abstract

This paper studies the underwater localization problem for a school of robotic fish, i.e., a kind of Autonomous Underwater Vehicles with limited size, power and payload. These robotic fish cannot be equipped with traditional underwater localization sensors that are big and heavy. The proposed localization system is performed by using a single surface mobile beacon which provides range measurement to bound the localization error. The main contribution of this paper lies in twofold: 1) Observability of single beacon based localization is first analyzed in the context of nonlinear discrete time system, deriving a sufficient condition on observability. 2) Moving Horizon Estimation is then integrated with Extended Kalman Filters for three-dimensional localization using single beacon, which can reduce the computational complexity, impose various constraints and make use of previous range measurements for current estimation. Extensive numerical simulations are conducted to verify the observability and high localization accuracy of the proposed underwater localization method. © 2013 IEEE.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published proceedings: IEEE International Conference on Intelligent Robots and Systems
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: 17 Dec 2014 12:52
Last Modified: 14 Jan 2022 22:01
URI: http://repository.essex.ac.uk/id/eprint/9255

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