Journal ArticleDOI
Autonomous Underwater Vehicle Navigation
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TLDR
This paper considers the vehicle navigation problem for an autonomous underwater vehicle (AUV) with six degrees of freedom using an error state formulation of the Kalman filter, and proposes novel tightly coupled techniques for the incorporation of the LBL and DVL measurements.Citations
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Journal ArticleDOI
AUV Navigation and Localization: A Review
TL;DR: A review of the state of the art of AUV navigation and localization, as well as a description of some of the more commonly used methods, are presented and areas of future research potential are highlighted.
Journal ArticleDOI
Navigation Technologies for Autonomous Underwater Vehicles
TL;DR: It is concluded that only geophysically referenced methods will enable AUVs to navigate accurately over large areas and that advances in underwater feature recognition are required before these methods can be implemented in operational AUVs.
Journal ArticleDOI
Path Planning of Autonomous Underwater Vehicles for Adaptive Sampling Using Mixed Integer Linear Programming
TL;DR: In this paper, a path-planning approach based on mixed integer linear programming (MILP) is proposed to find the vehicle path that maximizes the line integral of the uncertainty of the field estimates along this path.
Journal ArticleDOI
A three dimensional localization algorithm for underwater acoustic sensor networks
M.T. Isik,Ozgur B. Akan +1 more
TL;DR: 3DUL achieves networkwide robust 3D localization by using a distributed and iterative algorithm and provides high accuracy in underwater localization, which does not degrade with network size.
References
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Book
Applied Optimal Estimation
TL;DR: This is the first book on the optimal estimation that places its major emphasis on practical applications, treating the subject more from an engineering than a mathematical orientation, and the theory and practice of optimal estimation is presented.
Book
Linear System Theory and Design
TL;DR: Striking a balance between theory and applications, Linear System Theory and Design, 3/e, is ideal for use in advanced undergraduate/first-year graduate courses in linear systems and multivariable system design in electrical, mechanical, chemical, and aeronautical engineering departments.
Book
Guidance and Control of Ocean Vehicles
TL;DR: Modeling of Marine Vehicles Environmental Disturbances Stability and Control of Underwater Vehicles Dynamics and Stability of Ships Automatic Control of Ships Control of High-Speed Craft Appendices Bibliography Index as mentioned in this paper
Journal ArticleDOI
Nineteen Dubious Ways to Compute the Exponential of a Matrix
Cleve B. Moler,Charles Van Loan +1 more
TL;DR: In this article, the exponential of a matrix could be computed in many ways, including approximation theory, differential equations, the matrix eigenvalues, and the matrix characteristic polynomial.