Toward a framework for high integrity navigation of autonomous underwater vehicles
نویسندگان
چکیده
A key component of an autonomous underwater vehicle (AUV) is the navigation system. It is important for navigating the vehicle but it is also vital for being able to utilize the data collected during a mission. This paper presents the main challenges faced when designing reliable underwater navigation systems, and outlines a framework for detecting and isolating sensor faults using a bank of Kalman filters and innovation testing.
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