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Autonomous Underwater Vehicle Motion Tracking using a Kalman Filter for Sensor Fusion

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4 Author(s)
S. Holtzhausen ; Material Science and Manufacturing, Centre for Scientific and Industrial Research, Pretoria, South Africa, E-mail: sholtzhausen@csir.co.za ; O. Matsebe ; N. S. Tlale ; G. Bright

AUVs are ideal platforms for search and rescue operations. They can also be used for inspection of underwater terrains. These vehicles need to be autonomous and robust to cope with unpredictable current and high pressures. In this paper it will be shown how a Kalman filter is used to estimate the position of an autonomous vehicle in a three dimensional space. The Kalman filter is used to estimate movement and position using measurements from multiple sensors.

Published in:

Mechatronics and Machine Vision in Practice, 2008. M2VIP 2008. 15th International Conference on

Date of Conference:

2-4 Dec. 2008