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dc.contributor.authorFossen, Thor I.
dc.date.accessioned2023-08-16T08:59:03Z
dc.date.available2023-08-16T08:59:03Z
dc.date.created2023-06-28T13:45:27Z
dc.date.issued2023
dc.identifier.issn0967-0661
dc.identifier.urihttps://hdl.handle.net/11250/3084337
dc.description.abstractThis article is intended as a tutorial to assist engineers who want to develop and implement low-cost underwater vehicle inertial navigation systems (INS) aided by time-delayed hydroacoustic position measurements. A discrete-time unit quaternion error-state Kalman filter (ESKF) is used for sensor fusion. The ESKF is implemented as a feedback algorithm with reset functionality. This is motivated by the need for long-endurance autonomous underwater vehicles (AUVs). Proprietary navigation systems do not allow users to add more measurement equations to the code if additional sensors are available. However, the open-source filter architecture presented in the article provides for this. The article also aims to make in-house development of strapdown INS accessible and affordable for vendors of low-cost AUV systems. Finally, a case study of an AUV with a standard sensor suite is included to demonstrate the performance of the ESKF aided by time-delayed position measurements.en_US
dc.language.isoengen_US
dc.publisherElsevieren_US
dc.rightsNavngivelse 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/deed.no*
dc.titleFeedback Error-state Kalman Filter with Time-delay Compensation for Hydroacoustic-aided Inertial Navigation of Underwater Vehiclesen_US
dc.title.alternativeFeedback Error-state Kalman Filter with Time-delay Compensation for Hydroacoustic-aided Inertial Navigation of Underwater Vehiclesen_US
dc.typePeer revieweden_US
dc.typeJournal articleen_US
dc.description.versionpublishedVersionen_US
dc.source.volume138en_US
dc.source.journalControl Engineering Practiceen_US
dc.identifier.doi10.1016/j.conengprac.2023.105603
dc.identifier.cristin2159137
cristin.ispublishedtrue
cristin.fulltextoriginal
cristin.qualitycode1


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Navngivelse 4.0 Internasjonal
Except where otherwise noted, this item's license is described as Navngivelse 4.0 Internasjonal