Towards a Dvl-based Navigation System for an Underwater Robot
نویسندگان
چکیده
This paper represents a first step towards a navigation system based on a ARGONAUT DVL (Doppler Velocity Log) sensor for an underwater remotely operated vehicle (ROV). The sensor measures the water currents, the vehicle ground speed, the altitude, the depth and its attitude. The navigation system is formulated in a way that is able to deal with the future integration of new sensors like a DGPS. Hence, sensor fusion and filtering techniques are used to get a position estimate using data from all sensors. One of the widely applied strategies is the Kalman filter. In this paper an EKF-based navigation system using a DVL sensor and the nonlinear dynamic model of an underwater robot is proposed, implemented and evaluated through simulation.
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