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ACOUSTIC TRACKING OF AUTONOMOUS UNDERWATER VEHICLES BY A SET-MEMBERSHIP APPROACH
A. Caiti(1,2), A. Garulli(1), F. Livide(1), D. Prattichizzo(1)
(1) DII – Dept. Information Engineering
University of Siena – Italy
(2) ISME - Interuniversity Center of Integrated Systems for the Marine Environment
c/o DSEA - University of Pisa
An algorithm is presented for tracking of Autonomous Underwater Vehicles (AUVs) from acoustic time-of-flight measurements received by a field of surface floating buoys. The algorithm assumes that measurements and AUV dynamics uncertainties are unknown but bounded, with known bounds, and produces as output the set of admissible AUV positions. The algorithm has been validated by simulation in which uncertainty models have been obtained from field data at sea.
Keywords: Autonomous Vehicles, Tracking
Session slot T-Tu-M05: Underwater Vehicles/Area code 8c : Marine Systems
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