Multisensor Fusion for Navigation of Underwater Vehicles

Author

Pfuetzenreuter, T. ; Rauschenbach, T. ; Wernstedt, J.

Author_Institution

Fraunhofer Center for Appl. Syst. Technol., Ilmenau

fYear

2006

fDate

Sept. 2006

Firstpage

151

Lastpage

154

Abstract

The guidance of underwater vehicles presents a high challenge for the applied algorithms. The difficulties are mainly determined by the highly non-linear behavior of the vehicle, the very complicated position determination and - resulting from the vehicle´s behavior - a robust design of the autopilot. Multisensor fusion is used for hundreds of years on sailing ships and is also a proven concept for the position calculation of underwater vehicles. This paper gives an overview of the techniques used for navigation of a remotely operated and an autonomous vehicle

Keywords

mobile robots; path planning; remotely operated vehicles; sensor fusion; telerobotics; underwater vehicles; autonomous vehicle vehicle; autopilot; multisensor fusion; position determination; remotely operated; underwater vehicles navigation; Dead reckoning; Marine vehicles; Navigation; Position measurement; Remotely operated vehicles; Sea measurements; Sea surface; Sensor systems; Underwater vehicles; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Multisensor Fusion and Integration for Intelligent Systems, 2006 IEEE International Conference on

Conference_Location

Heidelberg

Print_ISBN

1-4244-0566-1

Electronic_ISBN

1-4244-0567-X

Type

conf

DOI

10.1109/MFI.2006.265597

Filename

4042014