Patricio Batista

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— This paper presents the development of an attitude complementary filter for an Attitude and Heading Reference System (AHRS). Using strapdown inertial measurements and vector observations, the proposed complementary filter provides attitude estimates in Euler angles representation, while compensating for rate gyro bias. Stability and performance properties(More)
Atmospheric Chemistry and Physics Discussions This discussion paper is/has been under review for the journal Atmospheric Chemistry and Physics (ACP). Please refer to the corresponding final paper in ACP if available. Abstract A mesospheric bore was observed with an all-sky airglow imager on the night of 9– 10 July 2007 at Ferraz Station (62 • S, 58 • W),(More)
This paper presents a novel approach to the design of globally asymptotically stable (GAS) position and velocity filters for Autonomous Underwater Vehicles (AUVs) based directly on the sensor readings of an Ultra-short Baseline (USBL) acoustic array system and a Doppler Velocity Log (DVL). The proposed methodology is based on an equivalent linear(More)
In typical video-to-video transmissions, security and confidentiality is becoming an issue of greater importance, but these features come at a cost. In mobile environments, where CPU time is a valuable resource, such features should be thoroughly thought over as they usually require heavy computational resources. In this paper a short analysis on existing(More)
This paper addresses the problem of decentralized state estimation in formations of Autonomous Underwater Vehicles (AUVs) with fixed topologies. In the envisioned scenario, each AUV in the formation estimates its own state relying only on locally available measurements and data communicated by neighboring agents, requiring lower computational and(More)
We provide here an overview of, and a summary of results arising from, an extensive experimental campaign (the Spread F Experiment, or SpreadFEx) performed from September to November 2005, with primary measurements in Brazil. The motivation was to define the potential role of neutral atmosphere dynamics, specifically gravity wave motions propagating upward(More)
— A new sensor based homing integrated guidance and control law is presented to drive an underactuated autonomous underwater vehicle (AUV) towards a fixed target, in 3D, using the information provided by an Ultra-Short Base Line (USBL) positioning system. The guidance and control law is firstly derived for the vehicle's kinematics expressed as the time(More)
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