AUV state estimation and navigation to compensate for ocean currents

@article{Osborn2015AUVSE,
  title={AUV state estimation and navigation to compensate for ocean currents},
  author={Joseph M. Osborn and Samuel R. Qualls and John R. Canning and Michael J. Anderson and Dean B. Edwards and E. T. Wolbrecht},
  journal={OCEANS 2015 - MTS/IEEE Washington},
  year={2015},
  pages={1-5}
}
This paper presents a novel approach to water-current compensation for autonomous underwater vehicle (AUV) state estimation and navigation. The approach is twofold: first, an extended Kalman filter estimates both the AUV state and water-currents in the north and east directions; second, these water-current estimates are used in a modified heading controller to calculate a current-compensated desired heading for the AUV to follow. Both the extended Kalman filter and modified heading controller… CONTINUE READING