Open AccessModel-Aided Navigation with Sea Current Estimation for an Autonomous Underwater Vehicle
Author(s) -
Alain Martínez,
Luis Hernández,
Hichem Sahli,
Yunier Valeriano Medina,
Maykel Orozco-Monteagudo,
Delvis Garcia-Garcia
Publication year - 2015
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/60415
Subject(s) - computer science , kalman filter , inertial navigation system , navigation system , underwater , wind triangle , dead reckoning , simulation , real time computing , artificial intelligence , inertial frame of reference , global positioning system , robot , mobile robot , telecommunications , oceanography , physics , quantum mechanics , geology , robot control
This paper presents a strategy to improve the navigation solution of the HRC-AUV by deploying a model-aided inertial navigation system (MA-INS). Based on a simpler three-DOF linear dynamic model (DM) of the vehicle, and implemented through a Kalman filter (KF), the performance of the proposed MA-INS is compared to state-of-the-art solutions based on non-linear models. The model allows the online estimation of the sea current parameters before and during the navigation mission. Qualitative and quantitative evaluations as well as a statistical significance test are performed using both simulated and real data, demonstrating the usefulness of the proposed model-aided navigation
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