Model-aided Navigation with Sea Current Estimation for an Autonomous Underwater Vehicle
| Autor: | Yunier Valeriano-Medina, Maykel Orozco-Monteagudo, Luis Hernández, Alain Martinez, Hichem Sahli, Delvis Garcia-Garcia |
|---|---|
| Přispěvatelé: | Electronics and Informatics, Audio Visual Signal Processing |
| Jazyk: | angličtina |
| Rok vydání: | 2015 |
| Předmět: |
Computer science
UAV lcsh:Electronics lcsh:TK7800-8360 Control engineering Kalman filter lcsh:QA75.5-76.95 Computer Science Applications model-aided navigation Computer Science::Robotics Underwater vehicle Artificial Intelligence lcsh:Electronic computers. Computer science Current (fluid) Kalman Filter Software Simulation Inertial navigation system |
| Zdroj: | International Journal of Advanced Robotic Systems International Journal of Advanced Robotic Systems, Vol 12 (2015) |
| DOI: | 10.5772/60415 |
| Popis: | This paper presents a strategy to improve the navigation solution of the HRC-AUV by deploying a model-aided inertial navigation system (MA-INS). Based on a simpler three-DOF linear dynamic model (DM) of the vehicle, and implemented through a Kalman filter (KF), the performance of the proposed MA-INS is compared to state-of-the-art solutions based on non-linear models. The model allows the online estimation of the sea current parameters before and during the navigation mission. Qualitative and quantitative evaluations as well as a statistical significance test are performed using both simulated and real data, demonstrating the usefulness of the proposed model-aided navigation. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|