Macau, ChinaFilter design for localization aided by direction and Doppler measurements
Published in IEEE International Conference on Robotics and Automation, 2014
Location: Hong Kong, China
Recommended citation: J. Reis, P. Oliveira, P. Batista, and C. Silvestre, “Filter design for localization aided by direction and Doppler measurements,” 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE, May 2014.
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Abstract
This paper presents a localization solution for the study of tagged marine animals (sources) based on direction and Doppler measurements. The source localization, in 3-D, is supported by a Portable Underwater Robotic Tool (PURT), comprising a Ultra-Short Baseline (USBL) aided INS navigation system, carried by a diver (agent). Furthermore, a Surface Robotic Tool (SRT) provides the agent with its absolute position expressed in inertial coordinates. The observability of the system is studied and realistic simulation results are presented, in the presence of measurement noise.