Estimating Water Current Velocities by Using a Model-Based High-Gain Observer for an Autonomous Underwater Vehicle

Estimating Water Current Velocities by Using a Model-Based High-Gain Observer for an Autonomous Underwater Vehicle

For accurate control and navigation of an autonomous underwater vehicle (AUV) it is critical to know the water current velocities around the vehicle body. The AUV-onboard acoustic doppler current profilers are unable to measure the current near to the vehicle due to their blanking distance, so an AU...

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Bibliographic Details
Main Authors: Eonjoo Kim, Shuangshuang Fan, Neil Bose
Format: Article
Language:English
Published: IEEE 2018-01-01
Series:IEEE Access
Subjects:
Autonomous underwater vehicles
system identification
recursive least squares optimization
model-aided inertial navigation
linear matrix inequality
high-gain observer
Online Access:https://ieeexplore.ieee.org/document/8528348/

Internet

https://ieeexplore.ieee.org/document/8528348/

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