EAN: 9783030155957

DEVELOPMENT AND TESTING OF NAVIGATION ALGORITHM...

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.

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