{"id":"https://openalex.org/W2899951642","doi":"https://doi.org/10.1109/access.2018.2879469","title":"Estimating Water Current Velocities by Using a Model-Based High-Gain Observer for an Autonomous Underwater Vehicle","display_name":"Estimating Water Current Velocities by Using a Model-Based High-Gain Observer for an Autonomous Underwater Vehicle","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W2899951642","doi":"https://doi.org/10.1109/access.2018.2879469","mag":"2899951642"},"language":"en","primary_location":{"id":"doi:10.1109/access.2018.2879469","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2879469","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2018.2879469","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045497782","display_name":"Eonjoo Kim","orcid":"https://orcid.org/0000-0003-3543-0484"},"institutions":[{"id":"https://openalex.org/I129801699","display_name":"University of Tasmania","ror":"https://ror.org/01nfmeh72","country_code":"AU","type":"education","lineage":["https://openalex.org/I129801699"]},{"id":"https://openalex.org/I150609352","display_name":"Australian Maritime College","ror":"https://ror.org/05fv9c840","country_code":"AU","type":"education","lineage":["https://openalex.org/I129801699","https://openalex.org/I150609352"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Eonjoo Kim","raw_affiliation_strings":["Australian Maritime College, University of Tasmania, Launceston, TAS, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Maritime College, University of Tasmania, Launceston, TAS, Australia","institution_ids":["https://openalex.org/I150609352","https://openalex.org/I129801699"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102760839","display_name":"Shuangshuang Fan","orcid":"https://orcid.org/0000-0002-1865-9730"},"institutions":[{"id":"https://openalex.org/I129801699","display_name":"University of Tasmania","ror":"https://ror.org/01nfmeh72","country_code":"AU","type":"education","lineage":["https://openalex.org/I129801699"]},{"id":"https://openalex.org/I150609352","display_name":"Australian Maritime College","ror":"https://ror.org/05fv9c840","country_code":"AU","type":"education","lineage":["https://openalex.org/I129801699","https://openalex.org/I150609352"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Shuangshuang Fan","raw_affiliation_strings":["Australian Maritime College, University of Tasmania, Launceston, TAS, Australia"],"raw_orcid":"https://orcid.org/0000-0002-1865-9730","affiliations":[{"raw_affiliation_string":"Australian Maritime College, University of Tasmania, Launceston, TAS, Australia","institution_ids":["https://openalex.org/I150609352","https://openalex.org/I129801699"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087304478","display_name":"Neil Bose","orcid":"https://orcid.org/0000-0002-6444-0756"},"institutions":[{"id":"https://openalex.org/I129801699","display_name":"University of Tasmania","ror":"https://ror.org/01nfmeh72","country_code":"AU","type":"education","lineage":["https://openalex.org/I129801699"]},{"id":"https://openalex.org/I150609352","display_name":"Australian Maritime College","ror":"https://ror.org/05fv9c840","country_code":"AU","type":"education","lineage":["https://openalex.org/I129801699","https://openalex.org/I150609352"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Neil Bose","raw_affiliation_strings":["Australian Maritime College, University of Tasmania, Launceston, TAS, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Australian Maritime College, University of Tasmania, Launceston, TAS, Australia","institution_ids":["https://openalex.org/I150609352","https://openalex.org/I129801699"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.0001,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.85509806,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"6","issue":null,"first_page":"70259","last_page":"70271"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11698","display_name":"Underwater Acoustics Research","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/1910","display_name":"Oceanography"},"field":{"id":"https://openalex.org/fields/19","display_name":"Earth and Planetary Sciences"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7598860263824463},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.6482515335083008},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5491963028907776},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5347081422805786},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.4642048478126526},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.45583322644233704},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27250906825065613},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.1648590862751007},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1095196008682251},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10284063220024109},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08360016345977783}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7598860263824463},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.6482515335083008},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5491963028907776},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5347081422805786},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.4642048478126526},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.45583322644233704},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27250906825065613},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.1648590862751007},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1095196008682251},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10284063220024109},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08360016345977783},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/access.2018.2879469","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2879469","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:eprints.utas.edu.au:29016","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922975","display_name":"UTAS Research Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:ecite.utas.edu.au:129565","is_oa":false,"landing_page_url":"http://ecite.utas.edu.au/129565","pdf_url":null,"source":{"id":"https://openalex.org/S4306401569","display_name":"eCite Digital Repository (University of Tasmania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I129801699","host_organization_name":"University of Tasmania","host_organization_lineage":["https://openalex.org/I129801699"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Refereed Article"},{"id":"pmh:oai:doaj.org/article:73bb4eb849d148e588f995ad1b435a24","is_oa":true,"landing_page_url":"https://doaj.org/article/73bb4eb849d148e588f995ad1b435a24","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 6, Pp 70259-70271 (2018)","raw_type":"article"},{"id":"pmh:oai:figshare.com:article/22973504","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/Estimating_water_current_velocities_by_using_a_model-based_high-gain_observer_for_an_autonomous_underwater_vehicle/22973504","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.1109/access.2018.2879469","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2879469","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320323319","display_name":"Memorial University of Newfoundland","ror":"https://ror.org/04haebc03"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W178056938","https://openalex.org/W1544853044","https://openalex.org/W1607700090","https://openalex.org/W1993598333","https://openalex.org/W2024036567","https://openalex.org/W2067139307","https://openalex.org/W2082542916","https://openalex.org/W2100600017","https://openalex.org/W2123487311","https://openalex.org/W2138784338","https://openalex.org/W2155470178","https://openalex.org/W2156513118","https://openalex.org/W2160821152","https://openalex.org/W2209314151","https://openalex.org/W2236771349","https://openalex.org/W2438306175","https://openalex.org/W2492811885","https://openalex.org/W2602151145","https://openalex.org/W2730920160","https://openalex.org/W2769648565","https://openalex.org/W2791847402","https://openalex.org/W2792482170","https://openalex.org/W3026829485","https://openalex.org/W3196167895"],"related_works":["https://openalex.org/W4388412763","https://openalex.org/W1999583034","https://openalex.org/W3168963531","https://openalex.org/W2591930867","https://openalex.org/W2953138830","https://openalex.org/W2773822314","https://openalex.org/W3176162126","https://openalex.org/W2891537746","https://openalex.org/W2529825864","https://openalex.org/W2015846391"],"abstract_inverted_index":{"For":[0],"accurate":[1],"control":[2],"and":[3,108,121,140,224,287],"navigation":[4,106],"of":[5,54,124,135,161,176,228],"an":[6,46,70],"autonomous":[7],"underwater":[8],"vehicle":[9,22,39,94,110,219],"(AUV)":[10],"it":[11],"is":[12],"critical":[13],"to":[14,32,37,41,76,130,156,159,171,196,202,216,278],"know":[15],"the":[16,21,34,38,52,56,60,90,93,97,109,113,117,132,137,152,173,177,193,203,218,222,225,229,242,248,253,256,260,265,270,280,283,288,292,304,310,317,325,335],"water":[17,79,83,114,266,319,326,332],"current":[18,28,35,57,80,84,271,285,290,305,320],"velocities":[19,58,85,95,111,220,286],"around":[20],"body.":[23],"The":[24,82,187,235,300],"AUV-onboard":[25],"acoustic":[26],"doppler":[27],"profilers":[29],"are":[30],"unable":[31],"measure":[33],"near":[36],"due":[40],"their":[42],"blanking":[43],"distance,":[44],"so":[45],"AUV":[47,71,127,153,178,194,257,336],"model-based":[48,118,311],"observer":[49,67,208,236,254,312],"can":[50],"serve":[51],"purpose":[53],"estimating":[55],"surrounding":[59],"vehicle.":[61],"In":[62,276],"this":[63],"paper,":[64],"a":[65,101,125,166,182,212,330],"high-gain":[66,207],"based":[68],"on":[69],"dynamics":[72,154,232],"model":[73,155,168,179,189,195],"was":[74,209,233,238,267,274,313],"used":[75,129],"estimate":[77],"3D":[78],"velocities.":[81],"were":[86,128,144,298],"determined":[87],"by":[88,100,116,180,240,308],"calculating":[89],"differences":[91,281],"between":[92,282,295],"over":[96],"ground":[98],"measured":[99,289],"Doppler":[102],"velocity":[103,262,272,327],"log-aided":[104],"inertial":[105],"system":[107],"through":[112,221,264],"estimated":[115,284],"observer.":[119],"Modeling":[120],"field":[122],"trials":[123],"Gavia":[126],"demonstrate":[131],"approach.":[133],"Instead":[134],"deriving":[136],"roll,":[138],"pitch,":[139],"yaw":[141],"motions,":[142],"these":[143,296],"directly":[145],"given":[146],"as":[147,211],"simulation":[148],"inputs":[149],"which":[150,246,323],"allowed":[151],"be":[157,197],"simplified":[158],"3-degrees":[160],"freedom.":[162],"This":[163],"paper":[164],"presents":[165],"real-time":[167],"identification":[169,190],"algorithm":[170,191,215],"identify":[172],"nonlinear":[174,213],"parameters":[175],"utilizing":[181,252],"recursive":[183],"least":[184],"squares":[185],"method.":[186],"realtime":[188],"allows":[192],"continuously":[198],"updated":[199],"in":[200,255,329],"response":[201],"operational":[204],"environment.":[205],"A":[206],"chosen":[210],"estimation":[214,230,306,321],"obtain":[217],"water,":[223],"Lyapunov":[226],"stability":[227],"error":[231,249],"investigated.":[234],"gain":[237],"computed":[239],"solving":[241],"linear":[243],"matrix":[244],"inequality":[245],"represented":[247],"dynamics.":[250],"By":[251],"dynamic":[258],"model,":[259],"vehicle's":[261],"vector":[263,273],"estimated,":[268],"then":[269],"calculated.":[275],"order":[277],"investigate":[279],"velocities,":[291],"standard":[293],"deviations":[294],"two":[297],"quantified.":[299],"results":[301],"showed":[302],"that":[303],"found":[307,324],"using":[309],"improved":[314],"compared":[315],"with":[316],"previous":[318],"method,":[322],"components":[328],"turbulent":[331],"column":[333],"from":[334],"motion":[337],"response.":[338]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}