相关论文: Transformer-Based Robust Underwater Inertial Navig…
Autonomous underwater vehicles (AUVs) are regularly used for deep ocean applications. Commonly, the autonomous navigation task is carried out by a fusion between two sensors: the inertial navigation system and the Doppler velocity log…
Autonomous underwater vehicles (AUV) perform various applications such as seafloor mapping and underwater structure health monitoring. Commonly, an inertial navigation system aided by a Doppler velocity log (DVL) is used to provide the…
Autonomous underwater vehicles (AUVs) are employed for marine applications and can operate in deep underwater environments beyond human reach. A standard solution for the autonomous navigation problem can be obtained by fusing the inertial…
Autonomous Underwater Vehicles (AUVs) commonly utilize an inertial navigation system (INS) and a Doppler velocity log (DVL) for underwater navigation. To that end, their measurements are integrated through a nonlinear filter such as the…
One of the primary means of sea exploration is autonomous underwater vehicles (AUVs). To perform these tasks, AUVs must navigate the rough challenging sea environment. AUVs usually employ an inertial navigation system (INS), aided by a…
Navigation is a critical aspect of autonomous underwater vehicles (AUVs) operating in complex underwater environments. Since global navigation satellite system (GNSS) signals are unavailable underwater, navigation relies on inertial…
The accurate navigation of autonomous underwater vehicles critically depends on the precision of Doppler velocity log (DVL) velocity measurements. Recent advancements in deep learning have demonstrated significant potential in improving DVL…
Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…
Autonomous underwater vehicles are specialized platforms engineered for deep underwater operations. Critical to their functionality is autonomous navigation, typically relying on an inertial navigation system and a Doppler velocity log. In…
Autonomous underwater vehicles (AUVs) are essential for various applications, including oceanographic surveys, underwater mapping, and infrastructure inspections. Accurate and robust navigation are critical to completing these tasks. To…
Autonomous underwater vehicles (AUVs) are underwater robotic platforms used in a variety of applications. An AUV's navigation solution relies heavily on the fusion of inertial sensors and Doppler velocity logs (DVL), where the latter…
Autonomous underwater vehicles (AUVs) are increasingly used in many applications such as oceanographic surveys, mapping, and inspection of underwater structures. To successfully complete those tasks, a Doppler velocity log (DVL) and an…
Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Recently, the usage of multi-rotor unmanned autonomous vehicles (UAV) for marine applications is receiving more attention in the literature. Usually,…
Autonomous underwater vehicles (AUVs) are used in a wide range of underwater applications, ranging from seafloor mapping to industrial operations. While underwater, the AUV navigation solution commonly relies on the fusion between inertial…
Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Usually, inertial sensors and Doppler velocity log readings are used in a nonlinear filter to estimate the AUV navigation solution. The process noise…
In underwater navigation systems, strap-down inertial navigation system/Doppler velocity log (SINS/DVL)-based loosely coupled architectures are widely adopted. Conventional approaches project DVL velocities from the body coordinate system…
This paper presents a novel approach to the design of globally asymptotically stable (GAS) position filters for Autonomous Underwater Vehicles (AUVs) based directly on the nonlinear sensor readings of an Ultra-short Baseline (USBL) and a…
Precise autonomous navigation remains a substantial challenge to all underwater platforms. Inertial Measurement Units (IMU) and Doppler Velocity Logs (DVL) have complementary characteristics and are promising sensors that could enable fully…
Autonomous underwater vehicles (AUVs) have become indispensable for deep-sea exploration, spanning critical scientific research and commercial applications. The rapid attenuation of electromagnetic waves renders satellite radio signals…
Inertial and Doppler velocity log sensors are commonly used to provide the navigation solution for autonomous underwater vehicles (AUV). To this end, a nonlinear filter is adopted for the fusion task. The filter's process noise covariance…