Filter design for localization aided by direction and Doppler measurements

@article{Reis2014FilterDF,
  title={Filter design for localization aided by direction and Doppler measurements},
  author={Joel Oliveira Reis and Paulo Jorge Ramalho Oliveira and Pedro Tiago Martins Batista and Carlos Silvestre},
  journal={2014 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2014},
  pages={2957-2962}
}
This paper presents a localization solution for the study of tagged marine animals (sources) based on direction and Doppler measurements. The source localization, in 3-D, is supported by a Portable Underwater Robotic Tool (PURT), comprising a Ultra-Short Baseline (USBL) aided INS navigation system, carried by a diver (agent). Furthermore, a Surface Robotic Tool (SRT) provides the agent with its absolute position expressed in inertial coordinates. The observability of the system is studied and… CONTINUE READING

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