Autonomous Underwater Vehicle Navigation via Sensors Maximum-Ratio Combining in Absence of Bearing Angle Data

Autonomous Underwater Vehicle Navigation via Sensors Maximum-Ratio Combining in Absence of Bearing Angle Data

This paper proposes a maximum-ratio combining sensor fusion scheme for using an extended Kalman filter in the underwater vehicle positioning task by means of communication devices (buoys) providing location information using a slant-range mechanism, inertial sensors, a Doppler velocity log, and a pr...

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Bibliographic Details
Main Authors: Vadim Kramar, Aleksey Kabanov, Kirill Dementiev
Format: Article
Language:English
Published: MDPI AG 2023-09-01
Series:Journal of Marine Science and Engineering
Subjects:
underwater navigation
inertial navigation
state estimation
sensors fusion
nonlinear filter
Online Access:https://www.mdpi.com/2077-1312/11/10/1847

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