Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
715790 | IFAC Proceedings Volumes | 2013 | 6 Pages |
Abstract
High-accuracy underwater navigation is important in order to automate motion control of remotely operated vehicles (ROVs). An observer that estimates the vehicle states (position, velocity, attitude and turn rates) is proposed for closed-loop control. Measurements from an acoustic positioning system (APS), a Doppler velocity log (DVL), an inertial measurement unit (IMU) and a pressure gauge (PG) are used in the proposed observer. The observer is divided into an attitude observer and a translational motion observer with interconnections. The attitude observer is an explicit complementary filter (ECF). Results from simulation are presented.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Fredrik Dukan, Asgeir J. Sørensen,