Simulation based design for position estimation of small robotic fish

This paper presents the position estimation for small robotic fish using GPS(Global Positioning System)/INS (Inertial Navigation System) and USBL (Ultra-Short Baseline). The main purpose of the paper is divided in to two parts: 1) to minimize the drift error that is inevitable in the double integration process in INS. 2) to enhance accuracy and update rates on the small robotic fish's position estimates. The simulation results show the efficiency of this algorithm.