Name
Abstract | ||
|---|---|---|
Acoustic time-of-flight positioning schemes are widely implemented for aiding underwater inertial navigation systems. The ping-response protocol and asynchronous nature of the returns of long-baseline (LBL) systems do not satisfy the standard assumptions necessary for Extended Kalman Filter (EKF) solutions. This paper presents a Near-Real-Time (NRT) framework for LBL aided inertial navigation. The solution proposed herein implements an optimal Bayesian state estimator over the time-frame of each LBL transponding cycle. This Maximum-A-Posteriori (MAP) solution considers all navigation sensor information collected during each LBL cycle and is computed at the conclusion of the LBL cycle. The solution between LBL cycles is computed by standard extended Kalman filter (EKF) methods for all other measurements (e.g., Doppler velocity log (DVL), pressure or compass) that satisfy the EKF assumptions. The article includes simulation results to illustrate the performance of this Near-Real-Time approach. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/CCA.2013.6662806 | CCA |
Keywords | Field | DocType |
maximum-a-posteriori solution,nrt framework,kalman filters,underwater inertial navigation systems,map solution,acoustic time-of-flight positioning schemes,bayes methods,navigation sensor information,state estimation,real time state estimation,lbl cycle,near-real-time framework,underwater vehicle,autonomous underwater vehicles,asynchronous nature,ping-response protocol,ekf methods,standard extended kalman filter method,extended kalman filter solution,ekf solution,lbl systems,long-baseline system,lbl aided inertial navigation,lbl transponding cycle,inertial navigation,real-time systems,optimal bayesian state estimator,real time systems | Inertial navigation system,Asynchronous communication,Extended Kalman filter,Compass,Control theory,Computer science,Kalman filter,Control engineering,Underwater vehicle,Underwater,Bayesian probability | Conference |
ISSN | Citations | PageRank |
1085-1992 | 3 | 0.42 |
References | Authors | |
4 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yiming Chen | 1 | 5 | 1.48 |
| Dongfang Zheng | 2 | 12 | 3.10 |
| Paul A. Miller | 3 | 3 | 0.42 |
| Jay A. Farrell | 4 | 862 | 69.84 |