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Underwater mobile target tracking with particle filter using an autonomous vehicle

Author
Masmitja, I.; Bouvet, P.; Gomariz, S.; Aguzzi, J.; Del Rio, J.
Type of activity
Presentation of work at congresses
Name of edition
OCEANS IEEE/MTS 2017 Aberdeen
Date of publication
2017
Presentation's date
2017-06-19
Book of congress proceedings
OCEANS 2017 - Aberdeen: 19-22 June 2017
First page
1
Last page
5
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/OCEANSE.2017.8084692 Open in new window
Project funding
Instrumentación y tecnologías aplicadas al estudio, caracterización y explotación sostenible del medio marino
Interoperability and implementation of autonomous marine platforms for seismic monitoring
Next generation, Cost-effective, Compact, Multifunctional Web Enabled Ocean Sensor Systems Empowering Marine, Maritime and Fisheries Management
Repository
http://hdl.handle.net/2117/116604 Open in new window
URL
https://ieeexplore.ieee.org/document/8084692/ Open in new window
Abstract
This paper describes an underwater mobile target localization and tracking by using an autonomous surface vehicle for which the successive ranges between the target and the reference are the only information. In a dynamic system, such as range-only single-beacon underwater target tracking, a statespace model can be characterized, where the state vector may include position, and velocity of the mobile underwater target. Moreover, the range observations can come from a mobile autonomous vehicle, w...
Citation
Masmitja, I., Bouvet, P., Gomariz, S., Aguzzi, J., Del Rio, J. Underwater mobile target tracking with particle filter using an autonomous vehicle. A: OCEANS IEEE/MTS Aberdeen. "OCEANS 2017 - Aberdeen: 19-22 June 2017". Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 1-5.
Keywords
AUV, autonomous vehicle, particle filter, range-only, single-beacon, underwater tracking, underwater positioning
Group of research
PERC-UPC - Power Electronics Research Centre
SARTI - Technological Development Center for Remote Acquisition and Data Processing System
SARTI-MAR -

Participants