https://scholars.lib.ntu.edu.tw/handle/123456789/411098
標題: | Autonomous underwater vehicle localization using an ocean acoustic tomographic sensor | 作者: | Huang, Sheng Wei Taniguchi, Naokazu Hsiao, An Ting Chang, Li Yaun CHEN-FEN HUANG Chan, Yun Ju JEN-HWA GUO |
關鍵字: | AUV environmental awareness | Extended Kalman filter | Observability | Travel time | 公開日期: | 4-十二月-2018 | 來源出版物: | 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS | 摘要: | © 2018 IEEE. Ocean sampling using AUVs needs real-time current field information of the sampled environment. We investigate a technique using an AUV and a moored station to estimate the spatial current field. Tomographic sensors are carried on the AUV and the moored station. By planning an observable scanning path for the AUV, bounded position errors using range information with respect to the moored station are guaranteed. The AUV receives one-way-travel-times from the moored station to calculate ranges, and two-way-travel-times for estimating the current speeds. Experimental data collected in a bay are presented to demonstrate the feasibility of the technique. |
描述: | 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018; Kobe; Japan; 28 May 2018 到 31 May 2018 |
URI: | https://scholars.lib.ntu.edu.tw/handle/123456789/411098 | ISBN: | 9781538616543 | DOI: | 10.1109/OCEANSKOBE.2018.8559415 |
顯示於: | 海洋研究所 |
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