Observability analysis of relative localization for AUVs based on ranging and depth measurements

被引：21
作者：
Antonelli, Gianluca [1 ]
Arrichiello, Filippo [1 ]
Chiaverini, Stefano [1 ]
Sukhatme, Gaurav S. [2 ]
机构：
[1] Univ Cassino, Dipartimento Automaz Elettromagnetismo Ingn Infor, Via G Di Biasio 43, I-03043 Cassino, FR, Italy
[2] Univ South Calif, Robot Embedded Syst Lab, Los Angeles, CA 90089 USA
来源：
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2010年
关键词：
D O I：
10.1109/ROBOT.2010.5509573
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper studies the observability properties of the relative localization of two Autonomous Underwater Vehicles (AUVs) equipped with depth sensors, linear/angular velocity sensors, and communication devices with range measurement. The conditions that ensure observability of the linearized model and locally weak observability of the non-linear system are derived. An Extended Kalman Filter is then designed aimed at estimating the relative position between two AUVs. Simulations in 3D and reconstruction from experimental data in 2D provide a numerical validation of the analysis.
引用
收藏
页码：4276 / 4281
页数：6
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