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dc.contributor.authorSchneider, Toby
dc.contributor.authorSchmidt, Henrik
dc.date.accessioned2015-07-08T17:44:59Z
dc.date.available2015-07-08T17:44:59Z
dc.date.issued2013-10
dc.date.submitted2013-02
dc.identifier.issn0364-9059
dc.identifier.issn1558-1691
dc.identifier.urihttp://hdl.handle.net/1721.1/97710
dc.description.abstractIn 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.en_US
dc.description.sponsorshipUnited States. Office of Naval Research (Grant N00014-08-1-0011)en_US
dc.description.sponsorshipUnited States. Office of Naval Research (Grant N00014-11-1-0097)en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/joe.2013.2268292en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceOther repositoryen_US
dc.titleA State Observation Technique for Highly Compressed Source Coding of Autonomous Underwater Vehicle Positionen_US
dc.typeArticleen_US
dc.identifier.citationSchneider, 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.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Center for Ocean Engineeringen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.mitauthorSchneider, Tobyen_US
dc.contributor.mitauthorSchmidt, Henriken_US
dc.relation.journalIEEE Journal of Oceanic Engineeringen_US
dc.eprint.versionOriginal manuscripten_US
dc.type.urihttp://purl.org/eprint/type/JournalArticleen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsSchneider, Toby; Schmidt, Henriken_US
dc.identifier.orcidhttps://orcid.org/0000-0003-3422-8700
mit.licenseOPEN_ACCESS_POLICYen_US
mit.metadata.statusComplete


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