Autonomous Underwater Vehicle Motion Tracking using a Kalman Filter for Sensor Fusion

Author

Holtzhausen, S. ; Matsebe, O. ; Tlale, N.S. ; Bright, G.

Author_Institution

Mater. Sci. & Manuf., Centre for Sci. & Ind. Res., Pretoria

fYear

2008

fDate

2-4 Dec. 2008

Firstpage

103

Lastpage

108

Abstract

AUVs are ideal platforms for search and rescue operations. They can also be used for inspection of underwater terrains. These vehicles need to be autonomous and robust to cope with unpredictable current and high pressures. In this paper it will be shown how a Kalman filter is used to estimate the position of an autonomous vehicle in a three dimensional space. The Kalman filter is used to estimate movement and position using measurements from multiple sensors.

Keywords

Kalman filters; mobile robots; remotely operated vehicles; sensor fusion; underwater vehicles; AUV; Kalman filter; autonomous underwater vehicle motion tracking; movement estimation; position estimation; search and rescue operations; sensor fusion; underwater terrain inspection; Africa; Electronic mail; Manufacturing industries; Mobile robots; Position measurement; Remotely operated vehicles; Sensor fusion; Sensor systems; Underwater tracking; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Machine Vision in Practice, 2008. M2VIP 2008. 15th International Conference on

Conference_Location

Auckland

Print_ISBN

978-1-4244-3779-5

Electronic_ISBN

978-0-473-13532-4

Type

conf

DOI

10.1109/MMVIP.2008.4749515

Filename

4749515