AUV parameter identification

Juan Carlos Cutipa Luque; Decio Crisol Donha; Ettore Apolonio De Barros

doi:10.3182/20090916-3-BR-3001.0062

AUV parameter identification

Juan Carlos Cutipa Luque, Decio Crisol Donha, Ettore Apolonio De Barros

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

An extended Kalman filter is used to tackle the problem of parameter identification of an autonomous underwater vehicle (AUV). Since a large number of parameters must be identified, two alternative sub-approaches are investigated. A classical approach seems to have a better performance in cases where a specific parameter will be identified. However, a modified approach guarantees a better identification when dealing with multiple parameters. A sway/yaw mathematical model for an AUV is obtained considering motions in the horizontal plane. Circular and zig-zag maneuvers are tested to assess the identification approaches employed. Results are presented and analysed.

Original language	English
Title of host publication	Proceedings of the 8th International IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2009
Publisher	IFAC Secretariat
Pages	72-77
Number of pages	6
ISBN (Print)	9783902661517
DOIs	https://doi.org/10.3182/20090916-3-BR-3001.0062
State	Published - 2009
Externally published	Yes

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)	1474-6670

Bibliographical note

Funding Information:
This work is funded by the Brazilian Council, FAPESP.

Funding Information:
The authors express their acknowledgments to FAPESP for the financial support given to this work.

Keywords

AUV
EKF
Kalman filter
Mathematical modelling
Parameter identification

Access to Document

10.3182/20090916-3-BR-3001.0062

Cite this

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title = "AUV parameter identification",

abstract = "An extended Kalman filter is used to tackle the problem of parameter identification of an autonomous underwater vehicle (AUV). Since a large number of parameters must be identified, two alternative sub-approaches are investigated. A classical approach seems to have a better performance in cases where a specific parameter will be identified. However, a modified approach guarantees a better identification when dealing with multiple parameters. A sway/yaw mathematical model for an AUV is obtained considering motions in the horizontal plane. Circular and zig-zag maneuvers are tested to assess the identification approaches employed. Results are presented and analysed.",

keywords = "AUV, EKF, Kalman filter, Mathematical modelling, Parameter identification",

author = "{Cutipa Luque}, {Juan Carlos} and Donha, {Decio Crisol} and {De Barros}, {Ettore Apolonio}",

note = "Funding Information: This work is funded by the Brazilian Council, FAPESP. Funding Information: The authors express their acknowledgments to FAPESP for the financial support given to this work.",

year = "2009",

doi = "10.3182/20090916-3-BR-3001.0062",

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isbn = "9783902661517",

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AUV parameter identification. / Cutipa Luque, Juan Carlos; Donha, Decio Crisol; De Barros, Ettore Apolonio.

Proceedings of the 8th International IFAC Conference on Manoeuvring and Control of Marine Craft, MCMC 2009. IFAC Secretariat, 2009. p. 72-77 (IFAC Proceedings Volumes (IFAC-PapersOnline)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AUV parameter identification

Abstract

Publication series

Bibliographical note

Keywords

Access to Document

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Cite this