Publisher DOI: | 10.1109/AUV50043.2020.9267909 | Title: | Micro AUV Localization for Agile Navigation with Low-cost Acoustic Modems | Language: | English | Authors: | Dücker, Daniel-André ![]() Steinmetz, Fabian ![]() Kreuzer, Edwin Renner, Bernd-Christian |
Issue Date: | Sep-2020 | Publisher: | IEEE | Source: | IEEE/OES Autonomous Underwater Vehicle Symposium: (2020-09) | Abstract (english): | High-rate self-localization for agile navigation still constitutes a major bottleneck in micro autonomous underwater vehicle (μAUV) research. Hereby, key challenges arise from the system being small-size and low-cost, which excludes common approaches such as relying on sophisticated ring-laser gyroscopes. In this context, we investigate two promising sensor fusion strategies for μAUVs based on low-cost sensors and motion models. We benchmark our findings in experiments against a baseline linear least-square estimator and a GPS reference track. |
Conference: | IEEE/OES Autonomous Underwater Vehicles Symposium (AUV 2020) | URI: | http://hdl.handle.net/11420/7843 | Institute: | smartPORT E-EXK2 Mechanik und Meerestechnik M-13 |
Document Type: | Chapter/Article (Proceedings) | Project: | Dezentrale kooperative Exploration von nichtstationären räumlich und zeitlich verteilten Feldern mit autonomen Unterwasserfahrzeugen |
Appears in Collections: | Publications without fulltext |
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