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This paper describes field testing of state estimation and navigation for autonomous underwater vehicle (AUV) operation in the presence of water currents. In the presented approach, an extended Kalman filter (EKF) is used to estimate the water currents in the north and east directions in real-time during AUV missions. These water current estimates are then used to compensate the desired AUV heading...
This paper presents a novel approach to water-current compensation for autonomous underwater vehicle (AUV) state estimation and navigation. The approach is twofold: first, an extended Kalman filter estimates both the AUV state and water-currents in the north and east directions; second, these water-current estimates are used in a modified heading controller to calculate a current-compensated desired...
Measurement delays are inherent in position feedback methods used for underwater navigation. Even for small delays, proper treatment of these measurements will provide more robust performance and reduce uncertainties, improving overall precision. The Kalman filter (KF) can be adapted to treat delayed measurements in an efficient and mathematically rigorous way. We present a delayed state sigma point...
This paper proposes an efficient method for localization and pose estimation for mobile robot navigation using passive radio-frequency identification (RFID). We assume that the robot is able to identify IC tags and measure the robot's pose based on the relation between the previous and current location according to the IC tags. However, there arises the problem of uncertainty of location due to the...
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