Three dimensional localisation in underwater swarms through a Kalman approach

Fabio Fratichini, Stefano Chiesa, Sergio Taraglio

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

A three dimensional localisation algorithm for a swarm of underwater vehicles is presented. The proposed approach is grounded on an extended Kalman filter (EKF) scheme used to fuse some proprioceptive data such as the vessel's speed and some esteroceptive measurement such as the time of flight (TOF) sonar distance of the companion vessels. The results of several simulations are presented. Some considerations about the available underwater bandwidth and the communication needed by the approach are discussed.
Original languageEnglish
Publication statusPublished - 2013
Event10th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2013 - , Iceland
Duration: 1 Jan 2013 → …

Conference

Conference10th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2013
CountryIceland
Period1/1/13 → …

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All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Information Systems
  • Control and Systems Engineering

Cite this

Fratichini, F., Chiesa, S., & Taraglio, S. (2013). Three dimensional localisation in underwater swarms through a Kalman approach. Paper presented at 10th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2013, Iceland.