Abstract
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.
states, even when sensor failures appear frequently.
Original language | English |
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Title of host publication | 9th IFAC International Conference on Manoeuvring and Control of Marine Craft Manoeuvring and Control of Marine Craft |
Publication date | 2012 |
Pages | 280-286 |
ISBN (Print) | 978-3-902823-60-1 |
DOIs | |
Publication status | Published - 2012 |
Event | 9th IFAC Conference on Manoeuvring and Control of Marine Craft - Arentzano, Italy Duration: 19 Sep 2012 → 21 Sep 2012 |
Conference
Conference | 9th IFAC Conference on Manoeuvring and Control of Marine Craft |
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Country/Territory | Italy |
City | Arentzano |
Period | 19/09/2012 → 21/09/2012 |
Keywords
- Particle filter
- Remotely operated vehicle
- Fault tolerant navigation