Micro AUV Localization for Agile Navigation with Low-cost Acoustic Modems
| Autor: | Daniel A Duecker, Christian Renner, Edwin Kreuzer, Fabian Steinmetz |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
business.industry Computer science Real-time computing 020206 networking & telecommunications Context (language use) 02 engineering and technology Sensor fusion Bottleneck 020901 industrial engineering & automation Assisted GPS 0202 electrical engineering electronic engineering information engineering Benchmark (computing) Global Positioning System Robot business Agile software development |
| Zdroj: | 2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043). |
| Popis: | High-rate self-localization for agile navigation still constitutes a major bottleneck in micro autonomous underwater vehicle (µAUV) research. Hereby, key challenges arise from the system being small-size and low-cost, which excludes common approaches such as relying on sophisticated ring-laser gyroscopes. In this context, we investigate two promising sensor fusion strategies for µAUVs based on low-cost sensors and motion models. We benchmark our findings in experiments against a baseline linear least-square estimator and a GPS reference track. |
| Databáze: | OpenAIRE |
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