Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar

Efficient AUV Navigation Fusing Acoustic Ranging and Side-scan Sonar

This paper presents an on-line nonlinear least squares algorithm for multi-sensor autonomous underwater vehicle (AUV) navigation. The approach integrates the global constraints of range to and GPS position of a surface vehicle or buoy communicated via acoustic modems and relative pose constrain...

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Bibliographic Details
Main Authors: Fallon, Maurice Francis, Kaess, Michael, Johannsson, Hordur, Leonard, John Joseph
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Language:en_US
Published: IEEE Computer Society 2011
Online Access:http://hdl.handle.net/1721.1/64410
https://orcid.org/0000-0002-8863-6550

Internet

http://hdl.handle.net/1721.1/64410
https://orcid.org/0000-0002-8863-6550

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