Tesi etd-04262012-094005 |
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Tipo di tesi
Tesi di laurea specialistica
Autore
BURATO, MARIA CHIARA
URN
etd-04262012-094005
Titolo
Stima della posizione di un veicolo subacqueo autonomo da misure acustiche di distanza.
Dipartimento
INGEGNERIA
Corso di studi
INGEGNERIA DELLA AUTOMAZIONE
Relatori
relatore Prof. Caiti, Andrea
relatore Dott. Calabrò, Vincenzo
relatore Ing. Munafò, Andrea
relatore Dott. Calabrò, Vincenzo
relatore Ing. Munafò, Andrea
Parole chiave
- AUV
- Extended Kalman Filter
Data inizio appello
11/05/2012
Consultabilità
Completa
Riassunto
This thesis faces the problem of the absolute localization of Autonomous Underwater
Vehicle (AUV) based on ranging measurements.\\We studied two algorithms
of localization of vehicle, one is the Extended Kalman Filter and the second is a constrained optimization problem.
We explain also an illustrative example for both algorithms, using experimental data acquired during a survey at sea surface level on December 10, 2010. Finally the paper shows the way both algorithms works and compares their performance with a numerical validation of
the analysis.
Vehicle (AUV) based on ranging measurements.\\We studied two algorithms
of localization of vehicle, one is the Extended Kalman Filter and the second is a constrained optimization problem.
We explain also an illustrative example for both algorithms, using experimental data acquired during a survey at sea surface level on December 10, 2010. Finally the paper shows the way both algorithms works and compares their performance with a numerical validation of
the analysis.
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