A mobile prototype-based localization approach using inertial navigation and acoustic tracking for underwater
Kun Ye,
Zhicheng Tan,
Wei Wang
et al.
Abstract:During underwater operations, divers must determine their own trajectories using the Inertial Navigation System (INS) they carry to improve operational efficiency. However, the INS contains a sensor bias that is also incorporated into the quadratic integration process to obtain the displacement, resulting in trajectory drift of the divers during prolonged self-guidance. To overcome the above problem, other aids are needed to correct the accumulated error of the INS. The single-beacon Assisted Inertial Navigati… Show more
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