Title :
Navigation for underwater vehicles based on asynchronous nonlinear estimation
Author :
Alessandri, A. ; Coletta, P.
Author_Institution :
Naval Autom. Inst., Nat. Res. Council of Italy, Genova, Italy
Abstract :
An approach to navigation for underwater vehicles is proposed and is based on the idea of extending the so-called projection filter to systems with nonlinear dynamics. This extension enables one to design an observer for a class of nonlinear systems with asynchronous measurements. Sufficient conditions of convergence have been found. The proposed filter has been compared to other methods of estimation like the complementary filter and the extended Kalman filter
Keywords :
control system synthesis; navigation; nonlinear dynamical systems; remotely operated vehicles; state estimation; three-term control; underwater vehicles; asynchronous nonlinear estimation; complementary filter; extended Kalman filter; projection filter; sufficient convergence conditions; Automation; Councils; Filters; Navigation; Nonlinear dynamical systems; Nonlinear systems; Sea measurements; Underwater tracking; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.878777
