A State Observation Technique for Highly Compressed Source Coding of Autonomous Underwater Vehicle Position
Name
Schmidt_A state.pdf
Size
5.84 MB
Format
Adobe PDF
Checksum (MD5)
ea8917627d8db77f1aceefca07aa2c51
Author(s)
Schneider, Toby
Schmidt, Henrik
Date Issued
October 2013
Journal
IEEE Journal of Oceanic Engineering
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Schneider, Toby, and Henrik Schmidt. “A State Observation Technique for Highly Compressed Source Coding of Autonomous Underwater Vehicle Position.” IEEE J. Oceanic Eng. 38, no. 4 (October 2013): 796–808.
Version
Original manuscript
Abstract
In this paper, a novel technique is presented for using state observers in conjunction with an entropy source encoder to enable highly compressed telemetry of autonomous underwater vehicle (AUV) position vectors. In this work, both the sending vehicle and receiving vehicle or human operator are equipped with a shared real-time simulation of the sender's state based on the prior transmitted positions. Thus, only the innovation between the sender's actual state and the shared state need be sent over the link, such as a very low throughput acoustic modem. The distribution of this innovation can be modeled a priori or assembled adaptively. This distribution is then paired with an arithmetic entropy encoder, producing a very low cost representation of the vehicle's position vector. This system was analyzed on experimental data from the GLINT10 and AGAVE07 expeditions involving two different classes of AUVs performing a diverse number of maneuvers, and implemented on a fielded vehicle in the MBAT12 experiment. Using an adaptive probability distribution in combination with either of two state observer models, greater than 90% compression, relative to a 32-b integer baseline, was achieved.
MIT Department
Massachusetts Institute of Technology. Center for Ocean Engineering
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/joe.2013.2268292
