This paper discusses the estimation of relative positions of a swarm of autonomous underwater or surface vehicles. The solution of this problem is crucial for performing a coordinated path following in a spatial formation. It forms a necessary prerequisite for establishing a coordinated control behavior of multiple vehicles which is the major goal of the European Project GREX. It is shown that the relative positioning problem is solvable when dead reckoning data are combined with the mutual range data measured via acoustic modems. Therefore, the limited capability of the acoustic communication channel has to be considered when developing a solution algorithm. A simple concept is achieved by implementing a recursive variant of a trilateration technique by means of an extended Kalman filter.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Relative positioning of multiple underwater vehicles in the GREX project


    Weitere Titelangaben:

    Relative Positionierung mehrere Unterwasserfahrzeuge im GREX-Projekt


    Beteiligte:
    Kalwa, Joerg (Autor:in) / Glotzbach, Thomas (Autor:in) / Engel, Robert (Autor:in)


    Erscheinungsdatum :

    2009


    Format / Umfang :

    6 Seiten, 4 Bilder, 12 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch






    Relative positioning method for multiple unmanned aerial vehicles

    GAN MINGGANG / GUO JIA / CHEN JIE et al. | Europäisches Patentamt | 2023

    Freier Zugriff


    Terrain-relative navigation for autonomous underwater vehicles

    Di Massa, Diane E. (Diane Eugenia) | DSpace@MIT | 1997

    Freier Zugriff