Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles / Francesco Fanelli.
Fanelli, Francesco.
2020
TC1662
Available Online

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Title Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles / Francesco Fanelli.
Author Fanelli, Francesco.
ISBN 9783030155964 (electronic book)
303015596X (electronic book)
9783030155957
DOI https://doi.org/10.1007/978-3-030-15
Published Cham, Switzerland : Springer, [2020]
Language English
Description 1 online resource.
Other Standard Identifiers 10.1007/978-3-030-15
Call Number TC1662
Dewey Decimal Classification 623.8205
Summary This book focuses on pose estimation algorithms for Autonomous Underwater Vehicles (AUVs). After introducing readers to the state of the art, it describes a joint endeavor involving attitude and position estimation, and details the development of a nonlinear attitude observer that employs inertial and magnetic field data and is suitable for underwater use. In turn, it shows how the estimated attitude constitutes an essential type of input for UKF-based position estimators that combine position, depth, and velocity measurements. The book discusses the possibility of including real-time estimates of sea currents in the developed estimators, and highlights simulations that combine real-world navigation data and experimental test campaigns to evaluate the performance of the resulting solutions. In addition to proposing novel algorithms for estimating the attitudes and positions of AUVs using low-cost sensors and taking into account magnetic disturbances and ocean currents, the book provides readers with extensive information and a source of inspiration for the further development and testing of navigation algorithms for AUVs.
Bibliography, etc. Note Includes bibliographical references.
Access Note Access limited to authorized users.
Source of Description Online resource; title from PDF title page (April 18, 2019).
Series Springer theses.
Linked Resources Online Access
Record Appears in Online Resources > Ebooks
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Introduction
Involved vehicles
Mathematical background
Navigation lter
Results
Conclusion.

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