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Towards Enhancing the Navigational Accuracy of UUVs Through Collaboration of Multiple Heterogeneous Marine Vehicles


Kapetanović, Nadir; Nađ, Đula; Mišković, Nikola; Vukić, Zoran
Towards Enhancing the Navigational Accuracy of UUVs Through Collaboration of Multiple Heterogeneous Marine Vehicles // Proceedings of the IEEE OES Autonomous Underwater Vehicle Symposium 2018 (AUV2018),
Porto, Portugal, 2018. str. 1-6 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Towards Enhancing the Navigational Accuracy of UUVs Through Collaboration of Multiple Heterogeneous Marine Vehicles

Autori
Kapetanović, Nadir ; Nađ, Đula ; Mišković, Nikola ; Vukić, Zoran

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the IEEE OES Autonomous Underwater Vehicle Symposium 2018 (AUV2018), / - , 2018, 1-6

Skup
2018 IEEE OES Autonomous Underwater Vehicle Symposium

Mjesto i datum
Porto, Portugal, 6-9.11.2018

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Unmanned underwater vehicle, unmanned sur-face vehicle, sensor fusion, visual odometry, ultra-short baseline, sonar localization

Sažetak
A modular measurement model Extended Kalman filter (EKF) for unmanned underwater vehicle (UUV) localization is proposed. Except for using measurements from UUV's sensors, this EKF is augmented by ultra-short baseline range and visual-data based localization from an unmanned surface vehicle, and in-sonar image estimated UUV position. It is shown that the proposed EKF significantly enhances UUV's navigational accuracy through a collaborative fusion of sensor data from multiple heterogeneous marine vehicles. Also, an Extended Rauch-Tung-Striebel (ERTS) smoother was run a-posteriori to further improve UUV's localization, which is shown to be very useful for accurate post-processing of the data acquired by the UUV.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika



POVEZANOST RADA


Ustanove
Fakultet elektrotehnike i računarstva, Zagreb