OCP based decentralized data fusion for Autonomous Underwater Vehicles

Author

Syahroni, Nanang

Author_Institution

Electr. Dept., Politek. Elektronika Negeri Surabaya, Surabaya, Indonesia

fYear

2013

fDate

7-8 Oct. 2013

Firstpage

465

Lastpage

469

Abstract

In this paper, an online decentralized multisensor data fusion algorithm facilitated by middleware networked using CORBA event channel is proposed, in order to deal with simplifying problem in sensor registration and fusion for vehicle state estimation. The networked based navigation concept for Autonomous Underwater Vehicle (AUV) using several sensors is presented. A simulation of various application scenarios are considered by choosing several parameters of UKF, i.e. weighting constant for sigma points and square root matrix. Normalized mean-square error (MSE) of Monte Carlo simulations are computed and reported in the simulation results. Furthermore, the middleware infrastructure based on Open Control Platform (OCP) to support the interconnection between the whole filter structures also reported.

Keywords

Monte Carlo methods; autonomous underwater vehicles; mean square error methods; middleware; sensor fusion; state estimation; AUV; CORBA event channel; MSE; Monte Carlo simulations; OCP based decentralized data fusion; autonomous underwater vehicles; filter structures; middleware; middleware infrastructure; normalized mean-square error; online decentralized multisensor data fusion algorithm; open control platform; sensor registration; sigma points; square root matrix; vehicle state estimation; weighting constant; Autonomous Underwater Vehicle; Decentralized Data fusion; Open Control Platform; Unscented Kalman Filter;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Technology and Electrical Engineering (ICITEE), 2013 International Conference on

Conference_Location

Yogyakarta

Print_ISBN

978-1-4799-0423-5

Type

conf

DOI

10.1109/ICITEED.2013.6676287

Filename

6676287