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标题：USBL Integration and Assessment in a Multisensor Navigation Approach for AUVs 1 1 This work is partially supported by Ministry of Economy and Competitiveness under contracts TIN2014-58662-R, DPI2014-57746-C3-2-R and FEDER funds.
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作者：Eric Guerrero Font ; Francisco Bonin-Font ; Pep-Lluis Negre 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：7905-7910
DOI：10.1016/j.ifacol.2017.08.754
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents the design and assessment of an USBL-aided navigation approach forAutonomous Underwater Vehicles(AUV). The system integrates anUltra-Short Base Line(USBL) acoustic modem and positioning device in a two-parallelExtended Kalman Filter(EKF) navigation schema, which also includes the measurements provided by anInertial Measurement Unit(IMU), aDoppler Velocity Log(DVL), aVisual Odometer(VO), a pressure sensor, and aGlobal Positioning System(GPS). In order to be integrated in the estimation filter, the precision of the USBL measurements is derived experimentally. Moreover, the accuracy of the system is evaluated using a ground truth (GT) trajectory produced by a visualSimultaneous Localization and Mapping(SLAM) approach. Experimental results are obtained from marine datasets gathered in the north coast of Mallorca with an AUV, model SPARUS II.
关键词：KeywordsRoboticsLocalizationNavigationUSBLAUV