Set-Membership Acoustic Tracking of Autonomous Underwater Vehicles
Authors: Caiti, A.; Garulli, A.; Livide, F.; Prattichizzo, D.
Source: Acta Acustica united with Acustica, Volume 88, Number 5, September/October 2002 , pp. 648-652(5)
Publisher: S. Hirzel Verlag
Abstract:A set-membership algorithm is presented for tracking of Autonomous Underwater Vehicles (AUVs) from acoustic time-of-flight measurements received by a field of surface floating buoys. The algorithm assumes that measurement errors and AUV dynamics uncertainties are of unknown but bounded magnitude, with known bounds, and produces as output the set of admissible AUV positions. The proposed procedure has been validated by simulations in which uncertainty models have been obtained from field data at sea. Tracking performance is shown superior than that of the Extended Kalman Filter (EKF) in presence of biased disturbances.
Document Type: Research article
Publication date: 2002-09-01
- Acta Acustica united with Acustica, published together with the European Acoustics Association (EAA), is an international, peer-reviewed journal on acoustics. It publishes original articles on all subjects in the field of acoustics, such as general linear acoustics, nonlinear acoustics, macrosonics, flow acoustics, atmospheric sound, underwater sound, ultrasonics, physical acoustics, structural acoustics, noise control, active control, environmental noise, building acoustics, room acoustics, acoustic materials, acoustic signal processing, computational and numerical acoustics, hearing, audiology and psychoacoustics, speech, musical acoustics, electroacoustics, auditory quality of systems. It reports on original scientific research in acoustics and on engineering applications. The journal considers scientific papers, technical and applied papers, book reviews, short communications, doctoral thesis abstracts, etc. In irregular intervals also special issues and review articles are published.
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