Kalman filter estimation of underwater vehicle position and attitude using a Doppler velocity aided inertial motion unit.
This Paper explores the use of an extended Kalman filter to provide real-time estimates of underwater vehicle position and attitude. The types of previously available sensors are detailed including strapdown accelerometers, roll and pitch sensors, gyro and magnetic compasses, depth sensor, and vario...
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| Language: | en_US |
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Monterey, California. Naval Postgraduate School
2013
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| Online Access: | http://hdl.handle.net/10945/26033 |