4 papers
Theoretical Advances in Current Estimation and Navigation from a Glider-Based Acoustic Doppler Current Profiler (ADCP)
Jacob Stevens-Haas, Sarah E. Webster, Aleksandr Aravkin
We examine acoustic Doppler current profiler (ADCP) measurements from underwater gliders to determine glider position, glider velocity, and subsurface current. ADCPs, however, do n…
Preliminary Results in Current Profile Estimation and Doppler-aided Navigation for Autonomous Underwater Gliders
Jonathan Jonker, Andrey Shcherbina, Richard Krishfield +3
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 prof…
Robust Singular Smoothers For Tracking Using Low-Fidelity Data
Jonathan Jonker, Aleksandr Aravkin, James V. Burke +2
Tracking underwater autonomous platforms is often difficult because of noisy, biased, and discretized input data. Classic filters and smoothers based on standard assumptions of Gau…
Fast Robust Methods for Singular State-Space Models
Jonathan Jonker, Aleksandr Y. Aravkin, James V. Burke +2
State-space models are used in a wide range of time series analysis formulations. Kalman filtering and smoothing are work-horse algorithms in these settings. While classic algorith…