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Tesi etd-04262012-094005


Thesis type
Tesi di laurea specialistica
Author
BURATO, MARIA CHIARA
URN
etd-04262012-094005
Title
Stima della posizione di un veicolo subacqueo autonomo da misure acustiche di distanza.
Struttura
INGEGNERIA
Corso di studi
INGEGNERIA DELLA AUTOMAZIONE
Commissione
relatore Prof. Caiti, Andrea
relatore Dott. Calabrò, Vincenzo
relatore Ing. Munafò, Andrea
Parole chiave
  • AUV
  • Extended Kalman Filter
Data inizio appello
11/05/2012;
Consultabilità
completa
Riassunto analitico
This thesis faces the problem of the absolute localization of Autonomous Underwater<br>Vehicle (AUV) based on ranging measurements.\\We studied two algorithms<br>of localization of vehicle, one is the Extended Kalman Filter and the second is a constrained optimization problem.<br>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<br>the analysis. <br>
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