Particle Filter Based Fault-tolerant ROV Navigation using Hydro-acoustic Position and Doppler Velocity Measurements

Publication: Research - peer-reviewArticle in proceedings – Annual report year: 2012

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This paper presents a fault tolerant navigation system for a remotely operated vehicle (ROV). The navigation system uses hydro-acoustic position reference (HPR) and Doppler velocity log (DVL) measurements to achieve an integrated navigation. The fault tolerant functionality is based on a modied particle lter. This particle lter is able to run in an asynchronous manner to accommodate the measurement drop out problem, and it overcomes the measurement outliers by switching observation models. Simulations with experimental data show that this fault tolerant navigation system can accurately estimate the ROV kinematic
states, even when sensor failures appear frequently.
Original languageEnglish
Title of host publication9th IFAC International Conference on Manoeuvring and Control of Marine Craft Manoeuvring and Control of Marine Craft
Publication date2012
Pages280-286
ISBN (print)978-3-902823-60-1
DOIs
StatePublished - 2012
Peer-reviewedYes

Conference

Conference9th IFAC Conference on Manoeuvring and Control of Marine Craft
CountryItaly
CityArentzano
Period19/09/201221/09/2012
CitationsWeb of Science® Times Cited: No match on DOI

Keywords

  • Particle filter, Remotely operated vehicle, Fault tolerant navigation
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