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Pregled bibliografske jedinice broj: 618168

Časopis

Autori: Vasilijević, Antonio; Borović, Bruno; Vukić, Zoran
Naslov: Underwater Vehicle Localization with Complementary Filter: Performance Analysis in the Shallow Water Environment
Izvornik: Journal of intelligent & robotic systems (0921-0296) 68 (2012), 3/4; 373-386
Vrsta rada: članak
Ključne riječi: USBL ; DVL ; underwater localization ; underwater vehicle
Sažetak:
Rapid development of underwater technology during the last two decades yielded more affordable sensors and underwater vehicles, and, as a result, expanded their use from exclusively offshore industry towards smaller interdisciplinary research groups. Regardless of application, knowing the location of the vehicle operating underwater is crucial. Relatively inexpensive solution is sensor fusion based on a dynamic model of the vehicle aided by a Doppler Velocity Log and a Ultra-Short Base Line position system. Raw data from the sensors are highly asynchronous and susceptible to outliers, especially in shallow water environment. This paper presents detailed sensor analysis based on experimental data gathered in shallow waters, identifies outliers, presents an intuitive and simple sensor fusion algorithm and finally, discusses outlier rejection. The approach has been experimentally verified on medium size remotely operated vehicle.
Izvorni jezik: ENG
Rad je indeksiran u
bazama podataka:
Current Contents Connect (CCC)
Scopus
SCI-EXP, SSCI i/ili A&HCI
Science Citation Index Expanded (SCI-EXP) (sastavni dio Web of Science Core Collectiona)
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika
URL Internet adrese: http://link.springer.com/article/10.1007%2Fs10846-012-9766-6
Broj citata:
Altmetric:
DOI: 10.1007/s10846-012-9766-6
URL cjelovitog teksta:
Google Scholar: Underwater Vehicle Localization with Complementary Filter: Performance Analysis in the Shallow Water Environment
Upisao u CROSBI: Antonio Vasilijević (antonio.vasilijevic@fer.hr), 13. Vel. 2013. u 10:13 sati



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