UKF-Based Inverted Ultra-Short Baseline SLAM With Current Compensation

UKF-Based Inverted Ultra-Short Baseline SLAM With Current Compensation

This paper presents an inverted ultra-short baseline (iUSBL) simultaneous localization and mapping (SLAM) based on Unscented Kalman filter (UKF) with current compensation. The complexity of the underwater environment prevents using a Global Positioning System (GPS) or visible-light cameras. Therefor...

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Bibliographic Details
Main Authors: Jingxin Luo, Hak-Lim Ko
Format: Article
Language:English
Published: IEEE 2022-01-01
Series:IEEE Access
Subjects:
Acoustic localization
inverted ultra-short baseline
unscented Kalman filter
simultaneous localization and mapping
sea currents estimation
Online Access:https://ieeexplore.ieee.org/document/9804706/

Internet

https://ieeexplore.ieee.org/document/9804706/

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