{"title":"Estimation of AUV dynamics for sensor fusion","authors":"K. M. Fauske, F. Gustafsson, Øyvind Hegrenæs","doi":"10.1109/ICIF.2007.4408044","DOIUrl":null,"url":null,"abstract":"This paper presents a method for identifying dynamic models of autonomous underwater vehicles (AUV) from logged data and a physically motivated model structure. Such models are instrumental for model-based control system design, but also for integrated navigation systems. We motive our work from the perspective of developing second generation integrated navigation systems, which use a sensor fusion approach to merge external information with a dynamic model for purposes of redundancy, integrity, and for fault detection and isolation.","PeriodicalId":298941,"journal":{"name":"2007 10th International Conference on Information Fusion","volume":"18 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2007-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"31","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2007 10th International Conference on Information Fusion","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICIF.2007.4408044","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 31
Abstract
This paper presents a method for identifying dynamic models of autonomous underwater vehicles (AUV) from logged data and a physically motivated model structure. Such models are instrumental for model-based control system design, but also for integrated navigation systems. We motive our work from the perspective of developing second generation integrated navigation systems, which use a sensor fusion approach to merge external information with a dynamic model for purposes of redundancy, integrity, and for fault detection and isolation.