dc.contributor.author | Stovner, Bård Nagy | |
dc.contributor.author | Johansen, Tor Arne | |
dc.contributor.author | Schjølberg, Ingrid | |
dc.date.accessioned | 2018-05-08T13:44:01Z | |
dc.date.available | 2018-05-08T13:44:01Z | |
dc.date.created | 2018-05-07T09:50:41Z | |
dc.date.issued | 2018 | |
dc.identifier.citation | Ocean Engineering. 2018, 155 351-360. | nb_NO |
dc.identifier.issn | 0029-8018 | |
dc.identifier.uri | http://hdl.handle.net/11250/2497658 | |
dc.description.abstract | This paper presents two novel globally exponentially stable position estimators using hydroacoustic measurements from a single transponder to several transceivers on the vehicle. A comparison study of these and several existing filters is conducted with both experimental and simulated data. Two classes of filters for position estimation are compared: filters expressing the position of an underwater vehicle in the body-fixed and north-east-down coordinate frames. The comparison study showed that the latter formulation yields lower estimation errors. Furthermore, one of the novel filters developed in this paper using the north-east-down formulation is found to serve well as a compromise between performance, theoretical stability, and computational complexity relative to the near-optimal linearization-based filters with which it is compared. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Elsevier | nb_NO |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/deed.no | * |
dc.title | Globally Exponentially Stable Filters for Underwater Position Estimation Using an Array of Hydroacoustic Transducers on the Vehicle and A Single Transponder | nb_NO |
dc.title.alternative | Globally Exponentially Stable Filters for Underwater Position Estimation Using an Array of Hydroacoustic Transducers on the Vehicle and A Single Transponder | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | publishedVersion | nb_NO |
dc.source.pagenumber | 351-360 | nb_NO |
dc.source.volume | 155 | nb_NO |
dc.source.journal | Ocean Engineering | nb_NO |
dc.identifier.doi | https://doi.org/10.1016/j.oceaneng.2018.02.053 | |
dc.identifier.cristin | 1583796 | |
dc.description.localcode | © 2018 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/BY-NC-ND/4.0/). | 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 | preprint | |
cristin.qualitycode | 1 | |