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

Bo Zhao; Mogens Blanke; Roger Skjetne

doi:10.3182/20120919-3-IT-2046.00048

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

Bo Zhao, Mogens Blanke, Roger Skjetne

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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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 language	English
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	https://doi.org/10.3182/20120919-3-IT-2046.00048
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
Country/Territory	Italy
City	Arentzano
Period	19/09/2012 → 21/09/2012

Keywords

Particle filter
Remotely operated vehicle
Fault tolerant navigation

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10.3182/20120919-3-IT-2046.00048

MCMC2012 bz mb rsSubmitted manuscript, 683 KB

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

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 kinematicstates, even when sensor failures appear frequently.",

keywords = "Particle filter, Remotely operated vehicle, Fault tolerant navigation",

author = "Bo Zhao and Mogens Blanke and Roger Skjetne",

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doi = "10.3182/20120919-3-IT-2046.00048",

language = "English",

isbn = "978-3-902823-60-1",

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booktitle = "9th IFAC International Conference on Manoeuvring and Control of Marine Craft Manoeuvring and Control of Marine Craft",

note = "9th IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2012 ; Conference date: 19-09-2012 Through 21-09-2012",

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Zhao, B, Blanke, M & Skjetne, R 2012, Particle Filter Based Fault-tolerant ROV Navigation using Hydro-acoustic Position and Doppler Velocity Measurements. in 9th IFAC International Conference on Manoeuvring and Control of Marine Craft Manoeuvring and Control of Marine Craft. pp. 280-286, 9th IFAC Conference on Manoeuvring and Control of Marine Craft, Arentzano, Italy, 19/09/2012. https://doi.org/10.3182/20120919-3-IT-2046.00048

Particle Filter Based Fault-tolerant ROV Navigation using Hydro-acoustic Position and Doppler Velocity Measurements. / Zhao, Bo; Blanke, Mogens; Skjetne, Roger.

9th IFAC International Conference on Manoeuvring and Control of Marine Craft Manoeuvring and Control of Marine Craft. 2012. p. 280-286.

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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

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