相关论文: Theoretical Advances in Current Estimation and Nav…

This paper describes the development and experimental results of navigation algorithms for an autonomous underwater glider (AUG) that uses an on-board acoustic Doppler current profiler (ADCP). AUGs are buoyancy-driven autonomous underwater…

This paper presents a manifold based Unscented Kalman Filter that applies a novel strategy for inertial, model-aiding and Acoustic Doppler Current Profiler (ADCP) measurement incorporation. The filter is capable of observing and utilizing…

Compact autonomous marine vehicles, both surface and submersible, are now commonly used to conduct observations of ocean velocities using Acoustic Doppler Current Profilers (ADCPs). However, in the inevitable presence of surface waves, ADCP…

The motivation for this study is to investigate the abilities and limitations of a Nortek Signature1000 acoustic Doppler current profiler (ADCP) regarding fine-scale turbulence measurements. Current profilers offer the advantage of gaining…

This study extends the flow measurement method initially proposed in [22] to three-dimensional scenarios, addressing the growing need for accurate and efficient non-contact flow measurement techniques in complex hydrodynamic environments.…

The Workhorse Acoustic Doppler Current Profiler (ADCP) manufactured by Teledyne RD Instruments (RDI) uses a "Bottom-Tracking" algorithm to yield data intended to represent distance to the bottom. However, current RDI software processing…

An assessment of variance in ocean current signal and noise shared by in situ observations (drifters) and a large gridded analysis (GlobCurrent) is sought as a function of day of the year for 1993-2015 and across a broad spectrum of current…

We propose a novel technique for guidance of buoyancy-controlled vehicles in uncertain under-ice ocean flows. In-situ melt rate measurements collected at the grounding zone of Antarctic ice shelves, where the ice shelf meets the underlying…

Doppler radars are routinely used for the remote sensing of oceanic surface currents and atmospheric wind profiles. Even though they operate at different frequencies and address different media, they follow very similar processing for the…

Real-time sea state estimation is vital for applications like shipbuilding and maritime safety. Traditional methods rely on accurate wave-vessel transfer functions to estimate wave spectra from onboard sensors. In contrast, our approach…

Estimating ocean flow fields in 3D is a critical step in enabling the reliable operation of underwater gliders and other small, low-powered autonomous marine vehicles. Existing methods produce depth-averaged 2D layers arranged at discrete…

This paper proposes a new mathematical formulation for flow measurement based on the inverse source problem for wave equations with partial boundary measurement. Inspired by the design of acoustic Doppler current profilers (ADCPs), we…

A new inversion method for determining near-surface shear currents from a measured wave spectrum is introduced. The method is straightforward to implement and starts from the existing state-of-the-art technique of assigning effective depths…

We address the problem of autonomous tracking and state estimation for marine vessels, autonomous vehicles, and other dynamic signals under a (structured) sparsity assumption. The aim is to improve the tracking and estimation accuracy with…

Passive radar systems can detect and track the moving targets of interest by exploiting non-cooperative illuminators-of-opportunity to transmit orthogonal frequency division multiplexing (OFDM) signals. These targets are searched using a…

Two new methods are presented for estimating car-following model parameters using data collected from the Adaptive Cruise Control (ACC) enabled vehicles. The vehicle is assumed to follow a constant time headway relative velocity model in…

This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external actuators, underwater gliders can be greatly influenced by…

The performance of coastal altimetry over a wide continental shelf is assessed using multiple-year ocean current observations by moored Acoustic Doppler Current Profilers (ADCP) and high frequency (HF) radar on the West Florida Shelf.…

This paper proposes a highly accurate trajectory estimation method for outdoor mobile robots using global navigation satellite system (GNSS) time differences of carrier phase (TDCP) measurements. By using GNSS TDCP, the relative 3D position…

Autonomous driving depends on perception systems to understand the environment and to inform downstream decision-making. While advanced perception systems utilizing black-box Deep Neural Networks (DNNs) demonstrate human-like comprehension,…