Simulation based design for position estimation of small robotic fish

This paper presents the position estimation for small robotic fish using GPS(Global Positioning System)/INS (Inertial Navigation System) and USBL (Ultra-Short Baseline). The main purpose of the paper is divided in to two parts: 1) to minimize the drift error that is inevitable in the double integration process in INS. 2) to enhance accuracy and update rates on the small robotic fish´s position estimates. The simulation results show the efficiency of this algorithm.