Experimental validation of three-stage position filter based on long baseline measurements with unknown wave speed

2017 American Control Conference (ACC)

2017

Self Cite

This paper provides a novel formulation relating underwater range measurements to body-fixed position when several acoustic transceivers are mounted on the vehicle and only one transponder is placed in the vehicle's surroundings. This formulation is used in a novel three-stage filter for aided inertial navigation that has both global convergence and nearoptimal performance w.r.t. variance of the estimate. It estimates both the position and velocity of the vehicle, and relies on a globally stable attitude observer to provide estimates of the attitude and angular rate sensor bias. Two different formulations of the novel three-stage filter were tested in simulations and shown to track the true position.

Section: Stagementioning

confidence: 99%

Globally exponentially stable aided inertial navigation with hydroacoustic measurements from a single transponder

Stovner

Johansen²,

2017 American Control Conference (ACC)

2017

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“…However, this implementation dose not account for the biases in LBL systems. This is implemented using the three stage filter in [16,17]. Study of wave motions and sea states has been a wide research field.…”

Section: Literature Reviewmentioning

confidence: 99%

Underwater Positioning Using Near Surface Long Baseline Transponder’s Induced by Wave Motion

Sandøy

Volume 7A: Ocean Engineering

2017

This paper presents a filter for underwater positioning in an aquaculture environment with demanding weather conditions. The positioning system is based on acoustic transponders mounted at a net pen on the sea surface. The transponders are exposed to oscillations due to wave disturbance. This will have an impact on the accuracy of the positioning system. An extended Kalman filter (EKF) solution has been proposed including a wave motion model integrated with the pseudo-range measurements from the transponders. Simulations show that the proposed filter compensates well for the disturbances.

“…Inspired by [11] and later used in ( [14], [20], [21]) it is possible to find an exact solution of the error. Starting with one exact pseudo-range distance from Equation (5) using the time varying transponder positionp(t).…”

Section: A Algebraic Solution Of the Errormentioning

confidence: 99%

Experimental verification of underwater positioning system in aquaculture

Sandøy

2017

OCEANS 2017 - Aberdeen

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Abstract-This paper presents a filter for positioning of an underwater vehicle in exposed aquaculture environments. The input to the filter is time of flight measurements from acoustic transponders mounted at near the sea surface. The transponders are exposed to oscillations from wave disturbances. This has an impact on the accuracy of the positioning system. An extended Kalman filter (EKF) solution has been proposed with a wave motion compensation. Experimental results show that the proposed filter compensates for the disturbances and thereby increase performance of the position estimate.