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

Norwegian University of Science and Technology

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

679 Downloads (Orbit)

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 - Grand Hotel Arenzano, Arentzano, Italy Duration: 19 Sept 2012 → 21 Sept 2012 Conference number: 9 https://www.sciencedirect.com/journal/ifac-proceedings-volumes/vol/45/issue/27

Conference

Conference	9th IFAC Conference on Manoeuvring and Control of Marine Craft
Number	9
Location	Grand Hotel Arenzano
Country/Territory	Italy
City	Arentzano
Period	19/09/2012 → 21/09/2012
Internet address	https://www.sciencedirect.com/journal/ifac-proceedings-volumes/vol/45/issue/27

Keywords

Particle filter
Remotely operated vehicle
Fault tolerant navigation

Access to Document

10.3182/20120919-3-IT-2046.00048

MCMC2012 bz mb rsSubmitted manuscript, 683 KB

OpenUrl availability

Check availability in DTU Findit

Cite this

@inproceedings{f8ac2dcb8470444f9ba27d3ba11b50d0,

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 kinematic states, even when sensor failures appear frequently.",

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

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

year = "2012",

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

language = "English",

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

pages = "280--286",

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",

url = "https://www.sciencedirect.com/journal/ifac-proceedings-volumes/vol/45/issue/27",

}

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

TY - GEN

T1 - Particle Filter Based Fault-tolerant ROV Navigation using Hydro-acoustic Position and Doppler Velocity Measurements

AU - Zhao, Bo

AU - Blanke, Mogens

AU - Skjetne, Roger

N1 - Conference code: 9

PY - 2012

Y1 - 2012

N2 - 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.

AB - 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.

KW - Particle filter

KW - Remotely operated vehicle

KW - Fault tolerant navigation

U2 - 10.3182/20120919-3-IT-2046.00048

DO - 10.3182/20120919-3-IT-2046.00048

M3 - Article in proceedings

SN - 978-3-902823-60-1

SP - 280

EP - 286

BT - 9th IFAC International Conference on Manoeuvring and Control of Marine Craft Manoeuvring and Control of Marine Craft

T2 - 9th IFAC Conference on Manoeuvring and Control of Marine Craft

Y2 - 19 September 2012 through 21 September 2012

ER -

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

Abstract

Conference

Keywords

Access to Document

OpenUrl availability

Fingerprint

Cite this