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3-D Localization of an Autonomous Underwater Vehicle Using Extended Kalman Filter  

임종환 (제주대학교 생산공학과)
강철웅 (제주대학교 생산공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.21, no.7, 2004 , pp. 130-135 More about this Journal
Abstract
This paper presents a 3-D localization of an autonomous underwater vehicle(AUV). Conventional methods of localization, such as LBL or SBL, require additional beacon systems, which reduces the flexibility and availability of the AUV We use a digital compass, a pressure sensor, a clinometer and ultrasonic sensors for localization. From the orientation and velocity information, a priori position of the AUV is estimated based on the dead reckoning. With the aid of extended Kalman filter algorithm, a posteriori position of the AUV is estimated by using the distance between the AUV and a mother ship on the surface of the water together with the water depth information from the pressure sensor. Simulation results show the possibility of practical application of the method to autonomous navigation of the AUV.
Keywords
AUV; Extended Kalman; Localization; Mother ship;
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Times Cited By KSCI : 2  (Citation Analysis)
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