文章基本信息

标题：An Integrated System for Geophysical Navigation of Autonomous Underwater Vehicles. ⋆
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作者：João Quintas ; Francisco Curado Teixeira ; António Pascoal 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：29
页码：293-298
DOI：10.1016/j.ifacol.2018.09.518
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a geophysical navigation system for small, affordable underwater robotic vehicles that exploits the information provided by geomagnetic features observed on the seafloor in order to correct the unavoidable drift in position error incurred by dead-reckoning navigation. The approach described combines a sequential estimation algorithm previous developed by the authors with a complementary profile correlation method. The outcome of this integration enhances the estimated position of a marine robotic vehicle in difficult operation conditions.
关键词：KeywordsGeophysical navigationmagnetic navigation