dc.contributor.author | Stovner, Bård Bakken | |
dc.contributor.author | Johansen, Tor Arne | |
dc.date.accessioned | 2018-03-05T08:53:29Z | |
dc.date.available | 2018-03-05T08:53:29Z | |
dc.date.created | 2017-05-26T16:51:29Z | |
dc.date.issued | 2017 | |
dc.identifier.citation | American Control Conference (ACC). 2017, 37 (1), 1211-1218. | nb_NO |
dc.identifier.issn | 0743-1619 | |
dc.identifier.uri | http://hdl.handle.net/11250/2488473 | |
dc.description.abstract | When an underwater intervention vehicle is close to large metallic structures, e.g. subsea oil and gas facilities, magnetic disturbances might render magnetic field measurements biased or useless. This loss of information is critical for attitude estimation, and consequently, for the safety of the operation. In this paper, a three-stage filter for joint position and attitude estimation is developed, replacing the magnetic field measurements with hydroacoustic measurements. This solution assumes a hydroacoustic sensor set up with multiple transponders on the sea floor and 3 or more transceivers on the vehicle. The three-stage filters is shown to yield GES error dynamics of both the translational and rotational motion. The three-stage filter is shown in simulations to successfully estimate both the true position and attitude of the vehicle. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | IEEE | nb_NO |
dc.title | Hydroacoustically Aided Inertial Navigation for Joint Position and Attitude Estimation in Absence of Magnetic Field Measurements | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.source.pagenumber | 1211-1218 | nb_NO |
dc.source.volume | 37 | nb_NO |
dc.source.journal | American Control Conference (ACC) | nb_NO |
dc.source.issue | 1 | nb_NO |
dc.identifier.doi | 10.23919/ACC.2017.7963118 | |
dc.identifier.cristin | 1472232 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.relation.project | Norges forskningsråd: 250725 | nb_NO |
dc.relation.project | Norges forskningsråd: 234108 | nb_NO |
dc.description.localcode | © 2017 IEEE. This is the author's accepted version of the manuscript. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | nb_NO |
cristin.unitcode | 194,64,20,0 | |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for marin teknikk | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | original | |
cristin.qualitycode | 1 | |