Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles

1. Auflage 2020
ISBN: 978-3-030-15595-7
Verlag: Springer International Publishing

Buch, Englisch, 97 Seiten, Format (B × H): 160 mm x 241 mm, Gewicht: 354 g

Reihe: Springer Theses

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.

Zielgruppe

Research

Autoren/Hrsg.

Fanelli, Francesco

Fachgebiete

• Technische Wissenschaften Elektronik | Nachrichtentechnik Nachrichten- und Kommunikationstechnik Regelungstechnik
• Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
• Technische Wissenschaften Verkehrstechnik | Transportgewerbe Intelligente & automatisierte Transportsysteme

Inhaltsverzeichnis

Introduction.- Involved vehicles.- Mathematical background .- Navigation ?lter.- Results.- Conclusion.