• Login
    View Item 
    •   DSpace Home
    • Institute's contributions
    • Scholarly literature
    • View Item
    •   DSpace Home
    • Institute's contributions
    • Scholarly literature
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Navigation of autonomous underwater vehicle using extended kalman filter

    Thumbnail
    View/Open
    Commun_Comput_Inf_Sci_103_1.pdf (593.4Kb)
    Date
    2010
    Author
    Ranjan, T.N.
    Nherakkol, A.
    Navelkar, G.S.
    Metadata
    Show full item record
    Abstract
    To navigate the Autonomous Underwater Vehicle (AUV) accurately is one of the most important aspects in its application. A truly autonomous vehicle must determine its position which requires the optimal integration of all available attitude and velocity signals. This paper investigates the extended Kalman Filtering (EKF) method to merge asynchronous heading, attitude, velocity and Global Positioning System (GPS) information to produce a single state vector. Dead reckoning determines the vehicle’s position by calculating the distance travelled using its measured speed and time interval. The vehicle takes GPS fixes whenever available to reduce the position error and fuses the measurements for position estimation. The implementation of this algorithm with EKF provides better tracking of the trajectory for underwater missions of longer durations
    URI
    http://drs.nio.org/drs/handle/2264/3796
    Collections
    • Scholarly literature [9074]

    DSpace software copyright © 2002-2016  DuraSpace
    Contact Us | Send Feedback
    Theme by 
    Atmire NV
     

     

    Browse

    All of DSpaceCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

    My Account

    LoginRegister

    DSpace software copyright © 2002-2016  DuraSpace
    Contact Us | Send Feedback
    Theme by 
    Atmire NV