Towards Enhancing the Navigational Accuracy of UUVs Through Collaboration of Multiple Heterogeneous Marine Vehicles (CROSBI ID 673287)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kapetanović, Nadir ; Nađ, Đula ; Mišković, Nikola ; Vukić, Zoran
engleski
Towards Enhancing the Navigational Accuracy of UUVs Through Collaboration of Multiple Heterogeneous Marine Vehicles
A modular measurement model Extended Kalman filter (EKF) for unmanned underwater vehicle (UUV) localization is proposed. Except for using measurements from UUV's sensors, this EKF is augmented by ultra-short baseline range and visual-data based localization from an unmanned surface vehicle, and in-sonar image estimated UUV position. It is shown that the proposed EKF significantly enhances UUV's navigational accuracy through a collaborative fusion of sensor data from multiple heterogeneous marine vehicles. Also, an Extended Rauch-Tung-Striebel (ERTS) smoother was run a-posteriori to further improve UUV's localization, which is shown to be very useful for accurate post-processing of the data acquired by the UUV.
unmanned underwater vehicle, unmanned sur-face vehicle, sensor fusion, visual odometry, ultra-short baseline, sonar localization
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Podaci o prilogu
1-6.
2018.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the IEEE OES Autonomous Underwater Vehicle Symposium 2018 (AUV2018),
Podaci o skupu
2018 IEEE/OES Autonomous Underwater Vehicle Workshop (AUV)
predavanje
06.10.2018-09.10.2018
Porto, Portugal