Martinez Laguardia, A., Hernandez Santana, L., Sahli, H., Yunier, V.-M., Orozco-Monteagudo, M., & Delvis, G. (2015). Model-aided Navigation with Sea Current Estimation for an Autonomous Underwater Vehicle. International Journal of Advanced Robotic Systems, 12, Article 103. https://doi.org/10.5772/60415

@article{df5b75b677d6481fad2fa725b40998c4,
title = "Model-aided Navigation with Sea Current Estimation for an Autonomous Underwater Vehicle",
abstract = "This paper presents a strategy to improve the navigation solution of the HRC-AUV by deploying a model-aided inertial navigation system (MA-INS). Based on a simpler three-DOF linear dynamic model (DM) of the vehicle, and implemented through a Kalman filter (KF), the performance of the proposed MA-INS is compared to state-of-the-art solutions based on non-linear models. The model allows the online estimation of the sea current parameters before and during the navigation mission. Qualitative and quantitative evaluations as well as a statistical significance test are performed using both simulated and real data, demonstrating the usefulness of the proposed model-aided navigation",
keywords = "UAV, model-aided navigation, kalman filter",
author = "{Martinez Laguardia}, Alain and {Hernandez Santana}, Luis and Hichem Sahli and Valeriano-Medina Yunier and Maykel Orozco-Monteagudo and Garcia Delvis",
year = "2015",
doi = "10.5772/60415",
language = "English",
volume = "12",
journal = "International Journal of Advanced Robotic Systems",
issn = "1729-8806",
publisher = "Vienna University of Technology",
}