Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles
Francesco Fanelli
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Springer International Publishing
Naturwissenschaften, Medizin, Informatik, Technik / Elektronik, Elektrotechnik, Nachrichtentechnik
Beschreibung
This book focuses on pose estimation algorithms for Autonomous Underwater Vehicles (AUVs). After introducing readers to the state of the art, it describes a joint endeavor involving attitude and position estimation, and details the development of a nonlinear attitude observer that employs inertial and magnetic field data and is suitable for underwater use. In turn, it shows how the estimated attitude constitutes an essential type of input for UKF-based position estimators that combine position, depth, and velocity measurements.
Kundenbewertungen
Underwater Self-localization, Acoustic Localization Systems, AUV Dynamic Model, Attitude Estimation, Sea Currents Estimation, Unscented Kalman Filter, Navigation Sensors, AUV Navigation, Magnetic Disturbance