AUV-Based Plume Tracking: A Simulation Study

Autor: Awantha Jayasiri, Raymond G. Gosine, George K. I. Mann, Peter McGuire
Jazyk: angličtina
Rok vydání: 2016
Předmět:
Zdroj: Journal of Control Science and Engineering, Vol 2016 (2016)
Druh dokumentu: article
ISSN: 1687-5249
1687-5257
DOI: 10.1155/2016/1764527
Popis: This paper presents a simulation study of an autonomous underwater vehicle (AUV) navigation system operating in a GPS-denied environment. The AUV navigation method makes use of underwater transponder positioning and requires only one transponder. A multirate unscented Kalman filter is used to determine the AUV orientation and position by fusing high-rate sensor data and low-rate information. The paper also proposes a gradient-based, efficient, and adaptive novel algorithm for plume boundary tracking missions. The algorithm follows a centralized approach and it includes path optimization features based on gradient information. The proposed algorithm is implemented in simulation on the AUV-based navigation system and successful boundary tracking results are obtained.
Databáze: Directory of Open Access Journals
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