Cooperative localization of marine vehicles using nonlinear state estimation
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Leonard_Cooperative localization.pdf
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1.52 MB
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Checksum (MD5)
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Author(s)
Papadopoulos, Georgios
Fallon, Maurice Francis
Leonard, John Joseph
Date Issued
May 15, 2013
Journal
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Papadopoulos, G et al. “Cooperative localization of marine vehicles using nonlinear state estimation.” Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2010): 4874–4879. ©2010 IEEE
Version
Final published version
Abstract
This paper investigates the problem of cooperative navigation of autonomous marine vehicles using range-only acoustic measurements. We consider the use of a single maneuvering autonomous surface vehicle (ASV) to aid the navigation of one or more submerged autonomous underwater vehicles (AUVs), using acoustic range measurements combined with position measurements for the ASV when data packets are transmitted. The AUV combines the data from the surface vehicle with its proprioceptive sensor measurements to compute its trajectory. In previous work, we presented an experimental demonstration of this approach, using an extended Kalman filter (EKF) for state estimation. In the present paper, we analyze the observability properties of the cooperative ASV/AUV localization problem and present experimental results comparing several different state estimators. Using the weak observability theorem for nonlinear systems, we demonstrate that this cooperative localization problem is best attacked using nonlinear least squares (NLS) optimization. We present experimental results for this new approach and compare it to alternative state estimators, demonstrating superior performance.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2010.5650250
