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...
| Main Authors: | , , , |
|---|---|
| Other Authors: | |
| 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 |