Estimating inertial position and current in the midwater


This paper describes a method for fusing an inertial position measurement from an Ultra-Short Baseline (USBL) sonar with a water-relative velocity measurement (from DVL, ACM, or other device) to improve knowledge of an underwater vehicle's inertial position. The goal is accuracy sufficient to enable closed-loop position control in the midwater. In this… (More)


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@article{Augenstein2008EstimatingIP, title={Estimating inertial position and current in the midwater}, author={Seth Augenstein and Stephen E. Rock}, journal={OCEANS 2008}, year={2008}, pages={1-6} }