dc.contributor.author | Fossen, Thor I. | |
dc.date.accessioned | 2023-08-16T08:59:03Z | |
dc.date.available | 2023-08-16T08:59:03Z | |
dc.date.created | 2023-06-28T13:45:27Z | |
dc.date.issued | 2023 | |
dc.identifier.issn | 0967-0661 | |
dc.identifier.uri | https://hdl.handle.net/11250/3084337 | |
dc.description.abstract | This 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.iso | eng | en_US |
dc.publisher | Elsevier | en_US |
dc.rights | Navngivelse 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by/4.0/deed.no | * |
dc.title | Feedback Error-state Kalman Filter with Time-delay Compensation for Hydroacoustic-aided Inertial Navigation of Underwater Vehicles | en_US |
dc.title.alternative | Feedback Error-state Kalman Filter with Time-delay Compensation for Hydroacoustic-aided Inertial Navigation of Underwater Vehicles | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | publishedVersion | en_US |
dc.source.volume | 138 | en_US |
dc.source.journal | Control Engineering Practice | en_US |
dc.identifier.doi | 10.1016/j.conengprac.2023.105603 | |
dc.identifier.cristin | 2159137 | |
cristin.ispublished | true | |
cristin.fulltext | original | |
cristin.qualitycode | 1 | |