Estimation of AUV Dynamics for Sensor Fusion
2007 (English)In: Proceedings of the 10th International Conference on Information Fusion, IEEE , 2007, 1-6 p.Conference paper (Refereed)
This paper presents a method for identifying dynamic models of autonomous underwater vehicles (AUV) from logged data and a physically motivated model structure. Such models are instrumental for model-based control system design, but also for integrated navigation systems. We motive our work from the perspective of developing second generation integrated navigation systems, which use a sensor fusion approach to merge external information with a dynamic model for purposes of redundancy, integrity, and for fault detection and isolation.
Place, publisher, year, edition, pages
IEEE , 2007. 1-6 p.
AUV, Kalman filtering, Estimation
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-89046DOI: 10.1109/ICIF.2007.4408044ISBN: 978-0-662-45804-3ISBN: 978-0-662-45804-3OAI: oai:DiVA.org:liu-89046DiVA: diva2:606867
10th International Conference on Information Fusion, Quebec, QC, Canada, July, 2007