This paper describes an underwater mobile target localization and tracking by using an autonomous surface vehicle for which the successive ranges between the target and the reference are the only information. In a dynamic system, such as range-only single-beacon underwater target tracking, a statespace model can be characterized, where the state vector may include position, and velocity of the mobile underwater target. Moreover, the range observations can come from a mobile autonomous vehicle, which is used as a moving landmark. Then, a nonlinear Bayesian filtering algorithm can be used to make extrapolations on the state vector from the observations, in order to obtain the target position at each instant of time. In this paper we consider the use of Particle Filter (PF) to perform such localization and tracking where its performance and characterization is studied under different scenarios ; Postprint (published version)


    Zugriff

    Download


    Exportieren, teilen und zitieren




    Underwater Multi-Target Tracking with Particle Filters

    Masmitja, I. / Gomariz, S. / Del Rio, J. et al. | IEEE | 2018


    Using particle filters for autonomous underwater cable tracking

    Wirth, Stephan / Ortiz, Alberto / Paulus, Dietrich et al. | Tema Archiv | 2008


    Underwater multi-target tracking with particle filters

    Masmitjà Rusiñol, Ivan / Gomáriz Castro, Spartacus / Río Fernandez, Joaquín del et al. | BASE | 2018

    Freier Zugriff

    Mobile underwater docking system and autonomous underwater vehicle

    MAHMOUDIAN NINA / PAGE BRIAN | Europäisches Patentamt | 2022

    Freier Zugriff