Abstract:Accurate estimation for the pose and orientation of the autonomous underwater vehicles (AUVs) is necessary in most of the applications. This is same for both the missile type AUVs or the vehicles used for research purposes deep in the sea or ocean. A nonlinear version of the Kalman Filter as the unscented Kalman filter (UKF) gives satisfactory estimation results for this purpose in the normal operation conditions. However, in the deep sea, changes in the environment (process noise) either instantaneously or pe… Show more
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