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Thermoclines play a key role in ocean circulation, marine ecology, and underwater acoustics. In oceanographic surveys, it is often desirable to detect the thermocline and track its spatio-temporal variation. Mobility of an autonomous underwater vehicle (AUV) makes it an efficient platform for thermocline tracking. In this paper, we present a fully autonomous algorithm for detecting and tracking the...
In autonomous navigation systems, localization is the most important problem to be solved. In this note, we propose the algorithm to localize an unmanned ground vehicle (UGV) equipped with a global positioning system (GPS), an odometer and an electronic compass. The proposed scheme is based on the unscented Kalman filter (UKF). To improve the accuracy and robustness, the novel noise model of data...
Abstract-This paper introduces a kinematic model of a deep-sea mining vehicle in presence of sliding parameters. The model describes both the noises features of sliding parameters and the deep-sea condition features. To handle sliding parameters noises, a recursive algorithm to minimize difference between the filter-computed and the actual innovation covariance is adopted, which is a novel integrated...
Pose estimation is one of the most important part of guidance systems in unmanned vehicles. In this paper, we consider the problem of pose estimation of unmanned ground vehicle (UGV) equipped with a global positioning system (GPS), an odometer and an electronic compass. The unscented Kalman filter (UKF) is used to fuse the information from those sensors. To improve the accuracy and robustness, we...
Terrain aided navigation techniques are attractive for obtaining submerged position fixes for an underwater vehicle. However, their use is dependent on a certain degree of variation in the terrain. This paper investigates the performance of terrain navigation algorithms in an area with pockmarks, i.e. craters in the sea bed formed by expulsion of gas or water from the sediments. We use real terrain...
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