Interrogation of geophysical maps with uncertainty for AUV micro-navigation

S. T. Tuohy*, T. Maekawa, N. M. Patrikalakis

*この研究の対応する著者

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

This paper presents high-accuracy algorithms for localization of a small autonomous underwater vehicle by comparing geophysical property maps (computer models) to local measurements obtained from vehicle-mounted sensors and an initial position fix. In this paper, we present methods for micro-navigation, which refers to fine-scale, quantitative position determination, that attempt a direct solution for position from a minimal set of measurements, using techniques from computational geometry. Each absolute or differential sensor measurement defines one or more contour lines on the stored geophysical maps along which the vehicle may be located. The contours are found from efficient and robust computation of the real solutions of non-linear interval polynomial systems of equations. A technique for such solutions based on convex hull properties, Bernstein subdivision and interval arithmetic is described in the paper.

本文言語English
ホスト出版物のタイトルProc Conf Oceans 93
出版社Publ by IEEE
ページI181-I185
ISBN(印刷版)0780313860
出版ステータスPublished - 1993 12 1
外部発表はい
イベントProceedings of the Conference on Oceans '93. Part 1 (of 3) - Victoria, BC, Can
継続期間: 1993 10 181993 10 21

出版物シリーズ

名前Proc Conf Oceans 93

Conference

ConferenceProceedings of the Conference on Oceans '93. Part 1 (of 3)
CityVictoria, BC, Can
Period93/10/1893/10/21

ASJC Scopus subject areas

  • 工学(全般)

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