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Estimation of AUV Dynamics for Sensor Fusion
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
University Graduate Center Kjeller, Norway.
University Graduate Center Kjeller, Norway.
2007 (English)In: Proceedings of the 10th International Conference on Information Fusion, IEEE , 2007, 1-6 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Keyword [en]
AUV, Kalman filtering, Estimation
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-89046DOI: 10.1109/ICIF.2007.4408044ISBN: 978-0-662-45804-3 (print)ISBN: 978-0-662-45804-3 (print)OAI: oai:DiVA.org:liu-89046DiVA: diva2:606867
Conference
10th International Conference on Information Fusion, Quebec, QC, Canada, July, 2007
Available from: 2013-02-20 Created: 2013-02-19 Last updated: 2013-12-03

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Gustafsson, Fredrik

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  • harvard1
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  • sv-SE
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Output format
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