Journal article ยท Conference paper
Particle Filter Based Fault-tolerant ROV Navigation using Hydro-acoustic Position and Doppler Velocity Measurements
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.
Language: | English |
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Year: | 2012 |
Pages: | 280-286 |
Proceedings: | 9th IFAC Conference on Manoeuvring and Control of Marine Craft |
ISBN: | 3902823607 and 9783902823601 |
ISSN: | 14746670 |
Types: | Journal article and Conference paper |
DOI: | 10.3182/20120919-3-IT-2046.00048 |
ORCIDs: | Blanke, Mogens |