Asynchronous Data Fusion For AUV Navigation Via Heuristic Fuzzy Filtering Techniques
Loading...
Authors
An, P.E.
Healey, A.J.
Park, J.
Smith, S.M.
Subjects
Advisors
Date of Issue
1997-10
Date
Publisher
IEEE
Language
Abstract
This paper presents a heuristic fuzzy position estimation technique for autonomous underwater vehicle navigation. The heuristic estimator performs asynchronous data fusion of all sensor measurements based on their relative confidence levels, and then nonlinearly combines the fused information with the INS estimates via fuzzy filtering techniques. In this paper, the basis and implementation of the estimator will be described, and navigation results will be presented based on the heuristic estimator. In addition, performance comparison based on the heuristic estimator and those based on extended Kalman filters will be reported in our companion paper, and the results are expected to provide insights into the pros and cons of individual methods in terms of computational cost, steady-state and convergence characteristics for bias estimation.
Type
Conference Paper
Description
Series/Report No
Department
Mechanical and Aerospace Engineering (MAE)
Organization
Identifiers
NPS Report Number
Sponsors
Funding
Format
Citation
An, P. E., Healey, A. J., Park, J., Smith, S. M., "Asynchronous Data Fusion For AUV Navigation Via Heuristic Fuzzy Filtering Techniques", Proceedings IEEE, Oceans 97, Halifax, Oct. 1997 IEEE CD-ROM 0-7803-4111-2
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.