Micro AUV Localization for Agile Navigation with Low-cost Acoustic Modems

Publikationstyp
Conference Paper
Publikationsdatum
2020-09
Sprache
English
Author
Dücker, Daniel-André 
Steinmetz, Fabian orcid-logo
Kreuzer, Edwin 
Renner, Bernd-Christian 
Institut
smartPORT E-EXK2 
Mechanik und Meerestechnik M-13 
TORE-URI
http://hdl.handle.net/11420/7843
Citation
IEEE/OES Autonomous Underwater Vehicle Symposium: (2020-09)
Contribution to Conference
IEEE/OES Autonomous Underwater Vehicles Symposium (AUV 2020) 
Publisher DOI
10.1109/AUV50043.2020.9267909
Scopus ID
2-s2.0-85094600303
Publisher
IEEE
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.