dc.contributor.author | Stovner, Bård Bakken | |
dc.contributor.author | Johansen, Tor Arne | |
dc.contributor.author | Schjølberg, Ingrid | |
dc.date.accessioned | 2018-03-05T08:59:12Z | |
dc.date.available | 2018-03-05T08:59:12Z | |
dc.date.created | 2017-05-26T16:47:21Z | |
dc.date.issued | 2017 | |
dc.identifier.citation | American Control Conference (ACC). 2017, 37 (1), 1219-1226. | nb_NO |
dc.identifier.issn | 0743-1619 | |
dc.identifier.uri | http://hdl.handle.net/11250/2488476 | |
dc.description.abstract | This paper provides a novel formulation relating underwater range measurements to body-fixed position when several acoustic transceivers are mounted on the vehicle and only one transponder is placed in the vehicle's surroundings. This formulation is used in a novel three-stage filter for aided inertial navigation that has both global convergence and near-optimal performance w.r.t. variance of the estimate. It estimates both the position and velocity of the vehicle, and relies on a globally stable attitude observer to provide estimates of the attitude and angular rate sensor bias. Two different formulations of the novel three-stage filter were tested in simulations and shown to track the true position. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | IEEE | nb_NO |
dc.title | Globally Exponentially Stable Aided Inertial Navigation with hydroacoustic Measurements from A Single Transponder | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.source.pagenumber | 1219-1226 | 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.2017.7963119 | |
dc.identifier.cristin | 1472230 | |
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 | |