Sensor Fusion for Underwater Vehicle Navigation Compensating Misalignment Using Lie Theory

This paper presents a sensor fusion method for navigation of unmanned underwater vehicles. The method combines Lie theory into Kalman filter to estimate and compensate for the misalignment between the sensors: inertial navigation system and Doppler Velocity Log (DVL). In the process and measurement...

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Bibliographic Details

Published in:	Sensors
Main Authors:	Da Bin Jeong, Nak Yong Ko
Format:	Article
Language:	English
Published:	MDPI AG 2024-03-01
Subjects:	Lie theory misalignment attitude navigation Kalman filter underwater vehicle
Online Access:	https://www.mdpi.com/1424-8220/24/5/1653