Position Estimation of Remotely Operated Underwater Vehicle
Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesisAlternative title
Positionsestimering av undervattensfarkost (Swedish)
This thesis aims the problem of underwater vehicle positioning. The vehicle usedwas a Saab Seaeye Falcon which was equipped with a Doppler Velocity Log(DVL)manufactured by RD Instruments and an inertial measurement unit (IMU) fromXsense. During the work several different Extended Kalman Filter (EKF) havebeen tested both with a hydrodynamic model of the vehicle and a model withconstant acceleration and constant angular velocity. The filters were tested withdata from test runs in lake Vättern. The EKF with constant acceleration andconstant angular velocity appeared to be the better one. The misalignment of thesensors were also tried to be estimated but with poor result.
Place, publisher, year, edition, pages
2010. , 62 p.
EKF, Inertial navigation, Extended Kalman Filter, Underwater navigation
Engineering and Technology
IdentifiersURN: urn:nbn:se:liu:diva-57518ISRN: LiTH-ISY-EX- -10/4361- -SEOAI: oai:DiVA.org:liu-57518DiVA: diva2:326286