Nonlinear Dynamic Model-Based State Estimators for Underwater Navigation of Remotely Operated Vehicles

  title={Nonlinear Dynamic Model-Based State Estimators for Underwater Navigation of Remotely Operated Vehicles},
  author={James C. Kinsey and Qingjun Yang and Jonathan C. Howland},
  journal={IEEE Transactions on Control Systems Technology},
This brief reports single degrees of freedom nonlinear dynamic model-based state estimators for the navigation of remotely operated vehicles (ROVs)-unmanned, tethered robots commonly used for underwater commercial and scientific tasks. These methods exploit knowledge of the vehicle's nonlinear dynamics, the forces and moments acting on the vehicle, and disparate position and velocity measurements. The position and velocity of the ROV are estimated using two methods: 1) a nonlinear observer (NLO… CONTINUE READING


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