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Authors: M. Ufuk Altunkaya 1 ; Serhat İkizoğlu 1 and Fikret Gürgen 2

Affiliations: 1 Istanbul Technical University, Turkey ; 2 Boğaziçi University, Turkey

ISBN: 978-972-8865-61-0

Keyword(s): INS, inertial navigation, piecewise neural networks, acceleration data, filtering, backpropagation, radial basis, position estimation.

Related Ontology Subjects/Areas/Topics: Adaptive Signal Processing and Control ; Informatics in Control, Automation and Robotics ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: As a side effect of the developments in the mobile robotics, navigational technology has gained a leap recently. Although the most popular navigational aid for trajectory tracking is the Global Positioning System (GPS), it has also some disadvantages. Therefore attentions are drawn to other navigational devices such as Inertial Navigation Systems. Taking the underwater implementations of vehicle navigation into account, INS becomes a necessity due to communicational problems between the GPS and the satellites. On underwater vehicles Inertial Navigation Systems consisting of Inertial Measurement Units (IMU) such as accelerometers and gyros are used combined with other navigational devices like GPS or sonar. The error of the IMU output makes it necessary to be accompanied by an additional device. In this paper a neural network based filtering system is introduced that is planned to be used for the trajectory tracking of an underwater vehicle.

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Paper citation in several formats:
Ufuk Altunkaya M.; İkizoğlu S.; Gürgen F. and (2006). NEURAL NETWORK BASED DATA FILTERING FOR POSITION TRACKING OF AN UNDERWATER VEHICLE.In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-61-0, pages 197-200. DOI: 10.5220/0001216901970200

@conference{icinco06,
author={M. {Ufuk Altunkaya} and Serhat İkizoğlu and Fikret Gürgen},
title={NEURAL NETWORK BASED DATA FILTERING FOR POSITION TRACKING OF AN UNDERWATER VEHICLE},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={197-200},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001216901970200},
isbn={978-972-8865-61-0},
}

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - NEURAL NETWORK BASED DATA FILTERING FOR POSITION TRACKING OF AN UNDERWATER VEHICLE
SN - 978-972-8865-61-0
AU - Ufuk Altunkaya, M.
AU - İkizoğlu, S.
AU - Gürgen, F.
PY - 2006
SP - 197
EP - 200
DO - 10.5220/0001216901970200

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