Development and Test of Highly Autonomou
โฆ LIBER โฆ
๐
Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles
โ Scribed by Francesco Fanelli
- Publisher
- Springer International Publishing
- Year
- 2020
- Tongue
- English
- Leaves
- 108
- Series
- Springer Theses
- Edition
- 1st ed.
- Category
- Library
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โฆ Synopsis
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.
The book discusses the possibility of including real-time estimates of sea currents in the developed estimators, and highlights simulations that combine real-world navigation data and experimental test campaigns to evaluate the performance of the resulting solutions. In addition to proposing novel algorithms for estimating the attitudes and positions of AUVs using low-cost sensors and taking into account magnetic disturbances and ocean currents, the book provides readers with extensive information and a source of inspiration for the further development and testing of navigation algorithms for AUVs.
โฆ Table of Contents
Front Matter ....Pages i-xix
Introduction (Francesco Fanelli)....Pages 1-11
Involved Vehicles (Francesco Fanelli)....Pages 13-24
Mathematical Background (Francesco Fanelli)....Pages 25-39
Navigation Filter (Francesco Fanelli)....Pages 41-71
Results (Francesco Fanelli)....Pages 73-93
Conclusion (Francesco Fanelli)....Pages 95-96
Back Matter ....Pages 97-97
โฆ Subjects
Engineering; Robotics and Automation; Oceanography; Signal, Image and Speech Processing
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