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dc.contributor.authorMotwani, A
dc.contributor.authorsharma, sanjay
dc.contributor.authorSutton, R
dc.contributor.authorCulverhouse, Phil
dc.date.accessioned2017-02-15T16:32:23Z
dc.date.available2017-02-15T16:32:23Z
dc.date.issued2013-09
dc.identifier.issn0373-4633
dc.identifier.issn1469-7785
dc.identifier.urihttp://hdl.handle.net/10026.1/8484
dc.description.abstract

<jats:p>This paper reports on the potential application of interval Kalman filtering techniques in the design of a navigation system for an uninhabited surface vehicle named<jats:italic>Springer</jats:italic>. The interval Kalman filter (IKF) is investigated for this task since it has had limited exposure for such usage. A state-space model of the<jats:italic>Springer</jats:italic>steering dynamics is used to provide a framework for the application of the Kalman filter (KF) and IKF algorithms for estimating the heading angle of the vessel under erroneous modelling assumptions. Simulations reveal several characteristics of the IKF, which are then discussed, and a review of the work undertaken to date presented and explained in the light of these characteristics, with suggestions on potential future improvements.</jats:p>

dc.format.extent639-652
dc.languageen
dc.language.isoen
dc.publisherCambridge University Press (CUP)
dc.subjectNavigation system design
dc.subjectKalman filtering
dc.subjectInterval analysis
dc.subjectUninhabited surface vehicle
dc.titleInterval Kalman Filtering in Navigation System Design for an Uninhabited Surface Vehicle
dc.typejournal-article
dc.typeJournal Article
plymouth.author-urlhttps://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000325222400001&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=11bb513d99f797142bcfeffcc58ea008
plymouth.issue5
plymouth.volume66
plymouth.publication-statusPublished
plymouth.journalJournal of Navigation
dc.identifier.doi10.1017/s0373463313000283
plymouth.organisational-group/Plymouth
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering/School of Engineering, Computing and Mathematics
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA/UoA12 Engineering
plymouth.organisational-group/Plymouth/Research Groups
plymouth.organisational-group/Plymouth/Research Groups/Marine Institute
plymouth.organisational-group/Plymouth/Users by role
plymouth.organisational-group/Plymouth/Users by role/Academics
dc.identifier.eissn1469-7785
dc.rights.embargoperiodNot known
rioxxterms.funderEngineering and Physical Sciences Research Council
rioxxterms.identifier.projectAn Intelligent Integrated Navigation and Autopilot System for Uninhabited Surface Vehicles
rioxxterms.versionofrecord10.1017/s0373463313000283
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserved
rioxxterms.typeJournal Article/Review
plymouth.funderAn Intelligent Integrated Navigation and Autopilot System for Uninhabited Surface Vehicles::Engineering and Physical Sciences Research Council


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