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dc.contributor.authorMotwani, Aen
dc.contributor.authorSharma, SKen
dc.contributor.authorSutton, Ren
dc.contributor.authorCulverhouse, Pen
dc.date.accessioned2017-02-15T16:32:23Z
dc.date.available2017-02-15T16:32:23Z
dc.date.issued2013-09-01en
dc.identifier.issn0373-4633en
dc.identifier.urihttp://hdl.handle.net/10026.1/8484
dc.description.abstract

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 Springer. 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 Springer 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. © The Royal Institute of Navigation 2013.

en
dc.format.extent639 - 652en
dc.language.isoenen
dc.titleInterval Kalman filtering in navigation system design for an uninhabited surface vehicleen
dc.typeJournal Article
plymouth.issue5en
plymouth.volume66en
plymouth.publication-statusPublisheden
plymouth.journalJournal of Navigationen
dc.identifier.doi10.1017/S0373463313000283en
plymouth.organisational-group/Plymouth
plymouth.organisational-group/Plymouth/00 Groups by role
plymouth.organisational-group/Plymouth/00 Groups by role/Academics
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering/School of Computing, Electronics and Mathematics
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering/School of Engineering
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA/UoA11 Computer Science and Informatics
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
dc.identifier.eissn1469-7785en
dc.rights.embargoperiodNot knownen
rioxxterms.versionofrecord10.1017/S0373463313000283en
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden
rioxxterms.typeJournal Article/Reviewen


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