Autonomous Underwater Vehicle Navigation via Sensors Maximum-Ratio Combining in Absence of Bearing Angle Data
Vadim Kramar,
Aleksey Kabanov,
Kirill Dementiev
Abstract:This paper proposes a maximum-ratio combining sensor fusion scheme for using an extended Kalman filter in the underwater vehicle positioning task by means of communication devices (buoys) providing location information using a slant-range mechanism, inertial sensors, a Doppler velocity log, and a pressure sensor in the absence of bearing angle data. The parameter estimation methods for all navigation system components are described. The results of simulation modeling with corresponding quality metrics are pres… Show more
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