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

Bo Zhao, Mogens Blanke, Roger Skjetne

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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.
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
Publication statusPublished - 2012
Event9th IFAC Conference on Manoeuvring and Control of Marine Craft - Arentzano, Italy
Duration: 19 Sep 201221 Sep 2012

Conference

Conference9th IFAC Conference on Manoeuvring and Control of Marine Craft
CountryItaly
CityArentzano
Period19/09/201221/09/2012

Keywords

  • Particle filter
  • Remotely operated vehicle
  • Fault tolerant navigation

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