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http://dx.doi.org/10.7746/jkros.2014.9.4.216

Comparison of Attitude Estimation Methods for DVL Navigation of a UUV  

Jeong, Seokki (Dept. Control and Instrumentation Engineering, Chosun University)
Ko, Nak Yong (Dept. Control and Instrumentation Engineering, Chosun University)
Choi, Hyun-Taek (Korea Research Institute of Ships and Ocean Engineering)
Publication Information
The Journal of Korea Robotics Society / v.9, no.4, 2014 , pp. 216-224 More about this Journal
Abstract
This paper compares methods for attitude estimation of a UUV(Unmanned Underwater Vehicle). Attitude estimation plays a key role in underwater navigation using DVL(Doppler Velocity Log). The paper proposes attitude estimation methods using EKF(Extended Kalman Filter), UKF(Unscented Kalman Filter), and CF(Complementary Filter). It derives methods using the measurements from MEMS-AHRS(Microelectromechanical Systems-Attitude Heading Reference System) and DVL. The methods are used for navigation in a test pool and their navigation performance is compared. The results suggest that even if there is no measurement relative to some absolute landmarks, DVL-only navigation can be useful for navigation in a limited time and range.
Keywords
Underwater Vehicle; Localization; Extended Kalman Filter; Unscented Kalman Filter; Complementary Filter;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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