UNION: UNderwater Intelligent Operation and Navigation
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(2) INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE. UNION: UNderwater Intelligent Operation and Navigation E`ve Coste-Manie`re , Vincent Rigaud , and. . N˚ 3038 November 1996 THE`ME 4. ISSN 0249-6399. apport de recherche. team.
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(44) Ãlm|hw s{cph% horqtsulm|hoÚ~ zgQqtoÚoÃwNnfg)9h 9v ) zhwfzv| zÃqtqtlÚoÆqtporh fs{cfh wNnfg/Vh +9v )'sq| u=hszlrwxhq|cxomnfzush lrzoÚl thoÚ~ svÉVh Nnplmsh)zugQqtom1o ¶bdcGnpz VN~ gQqtlmwNs{qtlmwplrwpPlmw } hy9hw } hwNDs _foÚs{h z )ù}v= 2|hcplmom} h!zus{qts{h!q|w } )ùhqts{np hz )ùv| qtoÚoLomnf} zs{h uz fnps-npy } qÊslmwf v=wpoÚ~q )ùh ùs{cfhnf uhwMsÏomnfzush Ïq|w zh.orhsh wphlm=cN9v= uzëv=wMsqÊlrwplmwf-v=fzuh =h )ùhqtsnf hz &lÚsWglr=cMs lmwQyp ulmwflmypomh N9hÁy9v=zuzulmpomhsvÃlrg!ypomhg!hwNs¶q|w!q } h Nnqtshznf !v=ypsulrgQqtoffnpsëzqtorq|pomhwqGlmMqtsulrv|ow _fomsh . lm=nf uh5ëq5 n(W uv= ÁlmwP {q|wf|hq| uv=zzcpv= ulv=wMs{qtoÛzq|wPv9)=h uslmqÊo~Nomlmw /!. /!. 9,. G,. ,. |!. |!/,. "!. G!,. G,. Ä!. ,. ²,. G!a,. @,. !. -!. -!. @,. -!. |!. |w-|. !!(p!. ÃwfhdomvGqtoÚl qtslmv=w7lmzLsh xQ.lrhwNsuom~!yVh )ùv= g!h } Mq2s{ qt^h.s{v= ~7q|w9hÁ=hwfh {qtsh } q|w } v=wfzunfg!h } qtsLs{cph v|wNs v|oporh.} =ho1 [ Ãwfhv9)Vs{cfh} gQqtlmw!lmzzunfhzëlmzëscfhw!s{v } hzu}lm=wQ v=fnpzusÏv=wMs v|ozucfhg!hz lÚs{cQ h=q|} } zLsv h.Gsh wfqto lrzs{nf uq|wfhzdqtw hzuslmgQqtslmv=wh uv= z Lw,v= h ës{v htqtomnqtsh+scfhzuh2v=wMs{ vtomomh uz pg!v hoÚlmwf q|w } zulmg/noÆqtsulrv|w s{vGv|omz+g)nfzusVh)nfzuh } Áw scfh)g!hq|wxsulrg!h scfh)ùhq|zulmplÚomlÚs~ v9)&scfhlrg!ypomhg!hwNs{qtslmv=w v=w s{q| =h.s{h } hqÊo !èslmgQhäq| cplÚs{hsnf hz 2g)nfzus qÊorzuv 9hxs{hzs{h } bdcph h )ùv= h +scfhäwfh¾GsPyq| {qt= {q|ypc cplm=cpoÚlr|cNsz s{} cfh[g!v } } hoÚlrwf q|w } zlrg)npoÆqÊ} slmv=w qtzyVhsz qÊs s{cfh%qtzulmz *v ))scfh } hzlr=w@9v ) s{cfh[ uv=fnfzs v|wNs v|oÚomh z hz lrVh zhslmv=wfz5 q|w Oi. . !. S,. -!. |!. -!. !. nƹnA.
(45) db cfh } hzlr=w)v9)Bq v=Vv|sulrzz~zs{hg lmz&Vv|sc/q } lqxÉnpoÚsWq|w } q+v=zusuom~-s{q|zEa Lbdclrz } l`xQnpoms~/q| lrzuhz)ù v=g } s{cph¶v=g!yporh¾Glms~ v9)pznfc)zu~Gzushg!z cplmc7nfzunqtoÚom~lmwM=v|oÚ=hÏ|qt ulmv=nfz'gQhcq|wplmqÊopz~zs{hgQz =zhwfzv| zLqtw v|gQypnps{h z cplmcPv=g!g)nfwplmqtsh9h.s ÁhhwPhq|c vts{cfh ëbdcfhÃVhcfq;Nlmv=nf dv*)Ûg!hcq|wlrqtoÛzu~Gzs{hg!zdlmz } hz lrVh } N~,lrwMs{h= {qÊslmwf lmscx uhzuy9hs+s{v!slmgQh s{cfh } ql ^h hwNsulÆqÊoh Nnqtslmv=wfz cplmcxscfh~Pzqtslmdz )à9~. ,Áv=wfzuh NnfhwNsuom~ =s{cfhëh.=v|omnpslmv=w7*v )pzunfc7zu~Gzs{hg!z'lrz'v=wMsulrwNnfv=npz'lmw)sulrg!9h 0 Ãw scfhÏv|s{cfh cq|w } Êzhwfzv| z q|w } v|gQypnps{h z9h.orv|wfQsvs{cfh } lm|lÚsqto ¶v= o } Ïbdcfh.lr +V} hcqNlrv|} nf lrz } hz lrV} h } M~ } lrzu uhs{h h|hwMs{z. Áhq|nfzuhä9v )Ãscfh vv|y9h {qtsulrv=w 9v )Ãscfh v=wMslmwGnpv=nfz q|w s{cph lmz hsh ¶v= uo z scfh v=g!yporh¾Glms~ 9v ) v|9v|sulrzz~Gzus{hg!z2lrz+lrwp hq|zh } lmwqtoÚom~ 9 uv=Vv|slmz+zu~Gzushg!z } hgQq|w } h¾pyVhwpzulÚ=h cplr|cxs{hcfwfv|omv=|~ v|gQyVv=wfhwMs{z (ë u v= uz7lrw q } hzulm=w q|} w uhznoms!lmw yfcM~zlrqto } q|gQq|=hzv= qäv=g!yporh.s{h omv=zz9v )+s{cph zu~Gzs{hg"hzuy9hlrqtoÚom~Plmwxs{cph)q|zh)9v )Lnfw h dqtsh v=Vv|slmz v= s{cfhzh) hqtzv=wfz 9 uhqtoÚlmzuslm/zlrg)nporqtslmv=w lmzxqtw@hzzuhwMslrqto)zus{hy@lmw s{cfh } hzulm=w 9v )) v|9v|sulrz zu~Gzushg!z bdcfh *Z ^ 5i rg)nporqts{v=F )ùv= 5npoÚs!l ]¶ vGhzuzv= uz } tq|wph } U2v=Vv| s v|wNs v|oÚomh z Ï=hwfh qto9zulmg/nporqtslmv=w zu9v )às dqt hlmz } h=h.orv|y9h } qtw } nfzuh } lrw scfhyf uv|^h.#s %Îs7lmz } hzulm=wfh } sv B85602PQ1?<@A>EB >EBF1 9@A6F>IHC6F4)@A4&M85602~>CBF125HQMO9</ 1<>-18AM T 19<>CM vbHC>CB7HC6 8M<HC6KJUPQ1DM<HCVW4pPq85>IH\@A6 M<;OM<>-1<V 7bdcfh!v|gQg!h lrqtoÚom~5qtqtlÚoÆqtpor h KZ
(46) VZLW zlrg)npoÆqÊslmv=w%s{vGv|o&lmz qtomzvQnfzh } )ùv| } ~Gwq|glr zulmg/noÆqtsulrv|w 9v )'s{cfh-zs{n } lmh } zu~Gzushg!z. ws{cphÃv=wMsh.Gs9v ) ¶hÃcq=h-npzus{v|g!l h } *Z ^xlmw v= } h Ásvq|v=nfwMss{cphà h Gnlr uhg!hwMs 9v )+s{cfhPyf uv|^h.#s nfw } h Áqts{h ÉyoÆqtds )ùv= g q|w } gQq|wplmyfnporqts{v= !qt g ¶Nlmzulmv=w qtw } noms {q|zuv=wplm zuhwfzuv= z A$zhwfhÉgQv } h.omlmwf q|w5wfv 9hQg!v } homh } h!zulmg/noÆqtsh } zuhwfzuv= !Îq|zuh } s{q|Ez Nz nfzulmwfxNlmzulmv=w v| {qtwf=hzhwfzv= uzÁv=wQVvM} q| } 9v ) } _ä=hcplmomoh I_f=nf h Q|5q S lmwq- hqtomlmzusulr Áq;]~ E )Øzuh.slmv=wKi. n:xv= uh yf uhlmzh.om~ ¶h-cq=h h|homv=yVh q=hv=g!hs{ lr-} g!v } ho9v )& A nfw } h Áqts{h zuhwfhz } tMq|lmwf lrhv=gQnpqtz+sug!lrÉv q|w h}5omz} 9v ~G)wh.q|Ggs{hlm ,vGg!hyv s} lÚh=omh/z)zu9v h)Ïwfs{zucpv=hQ z+|hq|cpzulmhomfh v=Ew _=Gnflmzu ulmhQv=w i=5q q|. w } q|q|w } v|nfs{cfzusuh!lr v=w5yf uVlmwfvM.q|lryp } omhz q| ug I_! =np h Qt8 S. NlmznqtoÚl qtsu lrv=w q|w } q|wqÊom~Gzulmzs{vGv|orCz )ùv| h.ypomv|lmsulrwp, hznpoÚs{yz I_f=nf hi|8. oÚos{cphzh5lrg!yf uv;=hg!hwNszäcq=h5VhhwUnfzh } lmw@scfh[zulmg/nporqtsulrv=w 9v ))NlmznqÊo)ylryVh )ùvtomomv lrwf sqtEz Nz } hz lrVh } zhslmv=wxiO. P d Ø' '() (/
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(49) Û( 0 ,¶omv=zhs{vscfh Áv|E NzulÚs{h-s{cfhyp ulmwflmyqtoyf uv=pomhg!z+q| ulmzulmwfQq| uhgÉqÊlrwpoÚ~ uhorqts{h } svzusqtplmoÚl qtsulrv=w zus q ! slmv=w |hhyplmwf!q|w } v=wfh2q|Mqtlmw,yp h.lrzuhs {qt^hs{v| u&~ )ùv|oÚorv lmwf/nfzlrwp7yf v|yf ulmvhypsulm|hq|w } h.Gs{h vGhy ! slÚ=h+zhwfzv| z Ww!s{clrzëyq| s =scfhzus{ uhzuzÏlmzëyfnpsëv=w!s{cfhzuhwfzlrwp/ h Nnplr uhg!hwMszq|w } s{cph } h=h.orv|yfg!hwMs{z 9v )v= ulm|lmwqtoÛv=wMs{ uv|ozcfhg!hz2pnplmoÚss{v!zvtom|h scfhzuh)yf uv=pomhg!z. ,. ,. G!. ,. /!,. !. «,. |!. !. 0,. ,. -!. |!. |!. R,. G!. $' 5(. ,. o). Á!o,. $' 5(. ,. ¡!. G!. 9,. a(_). «,. |!],. ,. 9,. h,. !. 9,. +!. N. G.p*m. Ãwfhdv9)BscfhdgQqtlmwv= ulm|lmwqtoÚlmsulrhzWv9)s{cplmzWyf uv|^h.sWlrz&svyf v|y9v=zuhdvGv= } lrwfqtslmv=w!q|w } lmwMs{h= {qtsulrv|wv9)Bzhw! zv| u~Plrw%)ùv= gQqtsulrv=wxyf v;Nl } h } M~ lrgQq||lmwfÉzhwpzv= uzW zuv=wq| $#ÊNl } hvK 9 {q|wp=hD_fw } h uzWEorq|zuh #Êzv=nfw } h uz. q|w } qtssulmsn } h t=homvGlÚs~q|w } q|homh {qÊslmv=w } hNlmhz n<h h |s{cfhÁplr|=hzs } lqxQnpoÚslmhzLlmz&s{cphÁhzslmgQqtslmv=w v9)Lh v !è=homvGlÚs~PzusqÊs{hz. @!. |!. ¹¹. nm@G@@³ K. !.
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