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Pregled bibliografske jedinice broj: 986996

Zbornik radova

Autori: Kapetanović, Nadir; Nađ, Đula; Mišković, Nikola; Vukić, Zoran
Naslov: Towards Enhancing the Navigational Accuracy of UUVs Through Collaboration of Multiple Heterogeneous Marine Vehicles
Izvornik: Proceedings of the IEEE OES Autonomous Underwater Vehicle Symposium 2018 (AUV2018),
Skup: 2018 IEEE OES Autonomous Underwater Vehicle Symposium
Mjesto i datum: Porto, Portugal, 6-9.11.2018.
Ključne riječi: unmanned underwater vehicle, unmanned sur-face vehicle, sensor fusion, visual odometry, ultra-short baseline, sonar localization
Sažetak:
A modular measurement model Extended Kalman filter (EKF) for unmanned underwater vehicle (UUV) localization is proposed. Except for using measurements from UUV's sensors, this EKF is augmented by ultra-short baseline range and visual-data based localization from an unmanned surface vehicle, and in-sonar image estimated UUV position. It is shown that the proposed EKF significantly enhances UUV's navigational accuracy through a collaborative fusion of sensor data from multiple heterogeneous marine vehicles. Also, an Extended Rauch-Tung-Striebel (ERTS) smoother was run a-posteriori to further improve UUV's localization, which is shown to be very useful for accurate post-processing of the data acquired by the UUV.
Vrsta sudjelovanja: Predavanje
Vrsta prezentacije u zborniku: Cjeloviti rad (više od 1500 riječi)
Vrsta recenzije: Međunarodna recenzija
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika
Upisao u CROSBI: Nadir Kapetanović (nadir.kapetanovic@fer.hr), 27. Vel. 2019. u 17:30 sati



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