Cruise Speed Model Based on Self-Attention Mechanism for Autonomous Underwater Vehicle Navigation
Xiaokai Mu,
Yuanhang Yi,
Zhongben Zhu
et al.
Abstract:This study proposes a cruise speed model based on the Self-Attention mechanism for speed estimation in Autonomous Underwater Vehicle (AUV) navigation systems. By utilizing variables such as acceleration, angle, angular velocity, and propeller speed as inputs, the Self-Attention mechanism is constructed using Long Short-Term Memory (LSTM) for handling the above information, enhancing the model’s accuracy during persistent bottom-track velocity failures. Additionally, this study introduces the water-track veloci… Show more
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