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We have built a test unit containing a GPS, an inertial measurement unit, magnetometers and a barometer. When the GPS looses its signals, the other sensors are used to keep track of the position. Unscented Kalman filters have been used to test the performance of different aid sensor configurations. In addition to the four different sensor configurations, the gyroscope output was filtered, making it...
In this paper, optimal best linear unbiased estimation (BLUE) filters are derived for cases where measurement errors depend on the state of the target. The standard Kalman filter fails to provide optimal estimates in these cases. Previously applied measurement models are reformulated in order to apply BLUE filters, and two new measurement models with state dependent biases are proposed. It is shown...
This paper reports the development and comparison of several mathematical models for describing the response of the HUGIN 4500 AUV as a function of measured actuator inputs. As a crucial step in fitting the derived models to experimental field data, a combination of dedicated experiments and least-squares estimation is applied in order to obtain an estimate of the sea current, and properly compensate...
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