A Low-Cost Dead Reckoning Navigation System for an AUV Using a Robust AHRS: Design and Experimental Analysis
IEEE Journal of Oceanic Engineering(2018)
摘要
In navigation and motion control of an autonomous vehicle, estimation of attitude and heading is an important issue, especially when the localization sensors such as global positioning system (GPS) are not available and the vehicle is navigated by the dead reckoning (DR) strategies. In this paper, based on a new modeling framework, an extended Kalman filter (EKF) is utilized for estimation of atti...
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关键词
Dead reckoning,Navigation,Magnetometers,Magnetic sensors,Global Positioning System,Autonomous underwater vehicles
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