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. ; publishedVersion


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    Titel :

    Feedback Error-state Kalman Filter with Time-delay Compensation for Hydroacoustic-aided Inertial Navigation of Underwater Vehicles


    Beteiligte:

    Erscheinungsdatum :

    2023-01-01


    Anmerkungen:

    cristin:2159137
    138 ; Control Engineering Practice



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629




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