Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles
Year: 2020 Language: english Author: Francesco Fanelli Genre: Technical book Publisher: Springer International Publishing Edition: 1st ISBN: 978-3-030-15595-7;978-3-030-15596-4 Format: PDF Quality: eBook Pages count: 108 Description: 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.
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Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles by Francesco Fanelli .pdf
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Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles
Language: english
Author: Francesco Fanelli
Genre: Technical book
Publisher: Springer International Publishing
Edition: 1st
ISBN: 978-3-030-15595-7;978-3-030-15596-4
Format: PDF
Quality: eBook
Pages count: 108
Description: 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.
Contents
Screenshots
Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles by Francesco Fanelli .pdf
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