Observability analysis of relative localization for AUVs based on ranging and depth measurements

Author

Antonelli, Gianluca ; Arrichiello, Filippo ; Chiaverini, Stefano ; Sukhatme, Gaurav S.

Author_Institution

Dipt. di Autom., Elettromagnetismo, Ing. dell´´Inf. e Mat. Ind., Univ. degli Studi di Cassino, Cassino, Italy

fYear

2010

fDate

3-7 May 2010

Firstpage

4276

Lastpage

4281

Abstract

The paper studies the observability properties of the relative localization of two Autonomous Underwater Vehicles (AUVs) equipped with depth sensors, linear/angular velocity sensors, and communication devices with range measurement. The conditions that ensure observability of the linearized model and locally weak observability of the nonlinear system are derived. An Extended Kalman Filter is then designed aimed at estimating the relative position between two AUVs. Simulations in 3D and reconstruction from experimental data in 2D provide a numerical validation of the analysis.

Keywords

Kalman filters; mobile robots; path planning; position measurement; remotely operated vehicles; telerobotics; underwater vehicles; Autonomous Underwater Vehicles; Extended Kalman Filter; angular velocity sensor; depth sensors; linear velocity sensor; nonlinear system; observability analysis; position estimation; Global Positioning System; Observability; Position measurement; Robot sensing systems; Sea measurements; Sea surface; Transponders; Underwater communication; Underwater vehicles; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Conference_Location

Anchorage, AK

ISSN

1050-4729

Print_ISBN

978-1-4244-5038-1

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2010.5509573

Filename

5509573