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 
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