A State Estimation System for an Autonomous Underwater Vehicle
Conference Paper, Proceedings of Australian Conference on Robotics and Automation (ACRA '00), pp. 99 - 104, August, 2000
Abstract
In this paper, we develop a state estimation system for an autononzous underwater vehicle called Kambara. The purpose of the state estimation system is to use sensor data to track the position, orientation, linear velocity and angular velocity of Kambara. To accomplish this task, an Extended Kalman Filter (EKF) was implemented. The sensors include a triaxial accelerometer, rate gyroscope, depth sensor, and a compass/inclinometer. Nonlinear equations for the sensors (i.e. sensor-model) and the dynamics of the vehicle (i.e. process model) are also derived. Experimental results are included on the dynamic testing of the sensor model.
BibTeX
@conference{Cvetanovski-2000-120422,author = {J. Cvetanovski and S. Abdallah and T. Brinsmead and D. Wettergreen and A. Zelinsky},
title = {A State Estimation System for an Autonomous Underwater Vehicle},
booktitle = {Proceedings of Australian Conference on Robotics and Automation (ACRA '00)},
year = {2000},
month = {August},
pages = {99 - 104},
}
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