Motion estimation and modeling of the environment for underwater vehicles
Article (2.571Mb)Abstract
The problem of localizing an underwater vehicle in a structured environment using sonar returns and measured acceleration is addressed. In particular the environment is modeled as a sequence of segments with constant orientation. The combined estimation of the vehicle motion and the orientation of the segments is obtained using an extended Kalman filter based on a suitable state-space model. Several experiments in the test tank show the effectiveness of' this technique.
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.Collections
Related items
Showing items related by title, author, creator and subject.
-
Spatial orientation and familiarity in a small-scale real environment using PC-based virtual environment technology
(Monterey, California. Naval Postgraduate School, 2005-09);Conducting training in a new or unfamiliar environment requires a certain amount of time to acquire the necessary spatial orientation and familiarity to that environment's physical layout. This thesis explores the effects ... -
A networked virtual environment for shipboard training
(Monterey, California. Naval Postgraduate School, 1995-03);Operational shipboard environments are characterized by uncertainty, short time constraints, stress, multiple sources of information and teamwork. However, most naval training ignores the fundamental three-dimensional and ... -
Modeling organizational configuration and decision processes for information warfare analysis
(Monterey, California. Naval Postgraduate School, 2005-09);For an organization to survive it must be able to adapt to its environment. A military organization operates in an environment that is constantly changing. The ability to model organizational configurations and organizational ...
