Position Estimation of Remotely Operated Underwater Vehicle

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)...

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Bibliographic Details
Main Author: Jönsson, Kenny
Format: Others
Language:English
Published: Linköpings universitet, Reglerteknik 2010
Subjects:
EKF
Online Access:http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-57518

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