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Distributed estimation of internal wave parameters via inter-drogue distances
M. Ouimet, J. Cortés
Proceedings of the IEEE Conference on Decision and Control, Maui, Hawaii, 2012, pp. 2433-2438

Abstract

This paper considers a group of drogues estimating the physical parameters that determine the dynamics of ocean's linear internal waves. While underwater, individual drogues do not have access to position information and instead rely on inter-drogue distance measurements. We introduce the \mainalgo for determining the parameters of a horizontally propagating internal ocean wave and show that, for noiseless measurements, our strategy determines the parameters precisely. We also characterize the robustness of our strategy in the presence of additive Gaussian noise, bounding the error in the estimated parameters. Finally, we define two strategies for aggregating estimates obtained across multiple time instants. Several illustrations illustrate our results.

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