Data/hora: 07/06/2024 04:36:11

Provedor de dados: 	5	
País: 	France	
Título: 	Underwater vehicle navigation using diffusion-based trajectory observers	
Autores: 	Jouffroy, J; Opderbecke, Jan.	
Data: 	2007-04	
Ano: 	2007	
Palavras-chave: 	Underwater vehicles; Underwater navigation; Trajectory observers; Trajectory estimation; Observers; Diffusion; Cartography.	
Resumo: 	This paper addresses the issue of estimating underwater vehicle trajectories using gyro-Doppler (body-fixed velocities) and acoustic positioning signals (earth-fixed positions). The approach consists of diffusion-based observers processing a whole trajectory segment at a time, allowing the consideration of important practical problems such as different information update rates, outages, and outliers in a very simple framework. Results of contraction theory are used to prove that the observers are convergent, i.e., stable in the incremental sense. Simulation and experimental results are presented to illustrate the potential of application of the method.	
Tipo: 	Text	
Idioma: 	Inglês	
Identificador: 	http://archimer.ifremer.fr/doc/2007/publication-4967.pdf

DOI:10.1109/JOE.2006.880392	
Editor: 	IEEE	
Relação: 	http://archimer.ifremer.fr/doc/00000/4967/	
Formato: 	application/pdf	
Fonte: 	IEEE Journal of Oceanic Engineering (0364-9059) (IEEE), 2007-04 , Vol. 32 , N. 2 , P. 313-326	
Fonte: 	2008 IEEE – All Rights Reserved