Robust, Distributed Estimation of Internal Wave Parameters via Inter-Drogue Measurements

Internal waves are important to oceanographers because, as they travel, they are capable of displacing mass, such as plankton and small fish. This paper considers a group of drogues estimating the physical parameters that determine the dynamics of an ocean linear internal wave. While underwater, ind...

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Veröffentlicht in:	IEEE transactions on control systems technology Jg. 22; H. 3; S. 980 - 994
Hauptverfasser:	Ouimet, Michael, Cortes, Jorge
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York IEEE 01.05.2014 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:	Construction Cooperative parameter estimation data fusion Derivatives Dynamics Estimates Estimating Internal waves Lagrangian dynamics Marine Noise measurement ocean linear internal waves Oceans Propagation Robustness robustness to error Sea measurements Sea surface Strategy Surface waves underwater robotic drifters data fusion Lagrangian dynamics underwater robotic drifters robustness to error Cooperative parameter estimation ocean linear internal waves
ISSN:	1063-6536, 1558-0865
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Abstract	Internal waves are important to oceanographers because, as they travel, they are capable of displacing mass, such as plankton and small fish. This paper considers a group of drogues estimating the physical parameters that determine the dynamics of an ocean linear internal wave. While underwater, individual drogues do not have access to absolute position information and can only rely on inter-drogue measurements. Building on this data and the knowledge of the drogue dynamics under the flow induced by the internal wave, we propose the Vanishing Distance Derivative Detection Strategy to allow individual drogues to determine the wave parameters. We analyze the correctness and robustness of this strategy under noiseless and noisy measurements, respectively. We also introduce a general methodology, termed pth-Order Parameter Fusion, for combining the parameter estimates obtained at different times and characterize its error. Simulations illustrate our results.
AbstractList	Internal waves are important to oceanographers because, as they travel, they are capable of displacing mass, such as plankton and small fish. This paper considers a group of drogues estimating the physical parameters that determine the dynamics of an ocean linear internal wave. While underwater, individual drogues do not have access to absolute position information and can only rely on inter-drogue measurements. Building on this data and the knowledge of the drogue dynamics under the flow induced by the internal wave, we propose the Vanishing Distance Derivative Detection Strategy to allow individual drogues to determine the wave parameters. We analyze the correctness and robustness of this strategy under noiseless and noisy measurements, respectively. We also introduce a general methodology, termed $p$ th-Order Parameter Fusion, for combining the parameter estimates obtained at different times and characterize its error. Simulations illustrate our results. Internal waves are important to oceanographers because, as they travel, they are capable of displacing mass, such as plankton and small fish. This paper considers a group of drogues estimating the physical parameters that determine the dynamics of an ocean linear internal wave. While underwater, individual drogues do not have access to absolute position information and can only rely on inter-drogue measurements. Building on this data and the knowledge of the drogue dynamics under the flow induced by the internal wave, we propose the Vanishing Distance Derivative Detection Strategy to allow individual drogues to determine the wave parameters. We analyze the correctness and robustness of this strategy under noiseless and noisy measurements, respectively. We also introduce a general methodology, termed pth-Order Parameter Fusion, for combining the parameter estimates obtained at different times and characterize its error. Simulations illustrate our results.
Author	Cortes, Jorge Ouimet, Michael
Author_xml	– sequence: 1 givenname: Michael surname: Ouimet fullname: Ouimet, Michael email: miouimet@ucsd.edu organization: Dept. of Mech. & Aerosp. Eng., Univ. of California, San Diego, La Jolla, CA, USA – sequence: 2 givenname: Jorge surname: Cortes fullname: Cortes, Jorge email: cortes@ucsd.edu organization: Dept. of Mech. & Aerosp. Eng., Univ. of California, San Diego, La Jolla, CA, USA
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Cites_doi	10.5670/oceanog.2003.06 10.3354/meps186059 10.1109/TCST.2007.912238 10.1109/TAC.2011.2178332 10.1016/j.pocean.2004.11.002 10.1109/JPROC.2006.887295 10.1007/978-0-8176-8134-0 10.1021/ac60214a047 10.4319/lo.1997.42.5_part_2.1297 10.1093/plankt/4.4.839 10.3354/meps013311 10.1016/j.automatica.2013.05.024 10.5670/oceanog.2005.08 10.1002/0471725315 10.2514/1.55580
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Keywords	data fusion Lagrangian dynamics underwater robotic drifters robustness to error Cooperative parameter estimation ocean linear internal waves
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SubjectTerms	Construction Cooperative parameter estimation data fusion Derivatives Dynamics Estimates Estimating Internal waves Lagrangian dynamics Marine Noise measurement ocean linear internal waves Oceans Propagation Robustness robustness to error Sea measurements Sea surface Strategy Surface waves underwater robotic drifters
Title	Robust, Distributed Estimation of Internal Wave Parameters via Inter-Drogue Measurements
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