Underwater vehicle trajectory estimation using contracting PDE-based observers

@article{Jouffroy2004UnderwaterVT,
  title={Underwater vehicle trajectory estimation using contracting PDE-based observers},
  author={J{\'e}r{\^o}me Jouffroy and Jan Opderbecke},
  journal={Proceedings of the 2004 American Control Conference},
  year={2004},
  volume={5},
  pages={4108-4113 vol.5}
}
This paper addresses the issue of estimating underwater vehicle trajectories using Gyro-Doppler (body-fixed velocities) and acoustic signals (earth-fixed positions). The approach consists of diffusion-based observers processing a whole trajectory segment at a time, allowing to consider important practical problems such as different information update rates, outages, and outliers in a very simple framework. Results of H. Nijmeijer and T.I. Fossen, (1999) are used to prove that the observers are… CONTINUE READING

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