Motion estimation and modeling of the environment for underwater vehicles

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Author
Cristi, Roberto
Caccia, Massimo
Veruggio, Giammarco
Date
1998Metadata
Show full item recordAbstract
The problem of localizing an underwater vehicle in a structured environment using sonar returns and measured acceleration is addressed. In particular the environment is modeled as a sequence of segments with constant orientation. The combined estimation of the vehicle motion and the orientation of the segments is obtained using an extended Kalman filter based on a suitable state-space model. Several experiments in the test tank show the effectiveness of' this technique.
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.Collections
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