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Output details

15 - General Engineering

University of Sheffield

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Output 30 of 66 in the submission

Output title

Geometric bounding techniques for underwater localization using range-only sensors

Type

E - Conference contribution

DOI

10.1243/09596518JSCE952

Name of conference/published proceedings

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering

Volume number

225

Issue number

First page of article

ISSN of proceedings

20413041

Year of publication

2011

URL

Number of additional authors

Additional information

This work was motivated by the practical needs of underwater navigation systems at the National Oceanography Centre, Southampton. The paper solves a problem raised by Steve McPhail (sdm@noc.ac.uk) about the unreliability of some range-only navigation methods. The paper presents the only algorithmic solution available today which takes measurement errors of sonar beams into account and provides reliable accuracy bounds for AUV localisation. The algorithmic results are also applicable to other measurement systems with similar characteristics to sonar, such as RF or laser range measurements for vehicles in air and in space. It also led to winning an EPSRC grant (EP/J011894/2).

Interdisciplinary

Cross-referral requested

Research group

None

Proposed double-weighted

Double-weighted statement

Reserve for a double-weighted output

Non-English

English abstract