Zonotopic Kalman Filter-Based Velocity Estimation for Autonomous Underwater Vehicles

This paper proposes a zonotopic Kalman filter-based interval velocity estimation for autonomous underwater vehicles. We relax our previous works by incorporating the technique of zonotopic Kalman filter. To enhance the performance of state estimation, segment minimization is implemented to attenuate the effect of uncertainties. Simulation results on “UVIC- I” validate the validity of the presented method.