An Adaptable Navigation System for an Underwater ROV
نویسندگان
چکیده
This paper presents a multi-sensor adaptable navigation system for an underwater remotely operated vehicle (ROV). A new multiple Kalman filter strategy is proposed, in which sensors can easily be added and removed from the navigation system without users having to modify the navigation algorithm. Sensors are assigned confidence levels, modifiable by the operator and the algorithm. The results of two sensor failure detection and recovery strategies are also given.
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تاریخ انتشار 2000