Dealing with time delayed measurements is a key problem of cooperative navigation for multiple autonomous underwater vehicles (MAUVs). In this work, in order to solve the invalidation of location due to the time delayed measurements, an algorithm which based on the augmented extended Kalman filter (AEKF) is proposed. The algorithm expands the variable dimension of slave AUV according to the time delayed measurements, and infers the fundamental equations of AEKF. Compared to the traditional EKF method, simulation results prove that AEKF has higher positioning accuracy.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Cooperative navigation for multiple autonomous underwater vehicles with time delayed measurements


    Contributors:
    Yuantao Qi, (author) / Bo Wang, (author) / Shunting Wang, (author) / Mengyin Fu, (author)


    Publication date :

    2016-08-01


    Size :

    117557 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Autonomous navigation of underwater vehicles

    Branca, A. / Stella, E. / Distante, A. | Tema Archive | 1998


    Terrain-relative navigation for autonomous underwater vehicles

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

    Free access

    High Accuracy Autonomous Navigation of Underwater Vehicles

    Larsen, M. B. / International Federation of Automatic Control | British Library Conference Proceedings | 2001


    Integration of navigation systems for autonomous underwater vehicles

    Dinc, Mustafa / Hajiyev, Chingiz | Taylor & Francis Verlag | 2015


    Underwater imaging system with multiple connected autonomous underwater vehicles

    DONLY CHARLES / TRANTHAM JON | European Patent Office | 2022

    Free access