Journal
JOURNAL OF COMMUNICATIONS TECHNOLOGY AND ELECTRONICS
Volume 63, Issue 6, Pages 650-654Publisher
PLEIADES PUBLISHING INC
DOI: 10.1134/S1064226918060219
Keywords
AUV; UAV; acoustic measurements; estimation; least square method
Funding
- Russian Foundation for Basic Research [16-31-60049, 16-08-01076]
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An original algorithm for the measurement of the velocity of an autonomous underwater vehicle (AUV) is based on the range measurement using acoustic sensing. As distinct from conventional procedures that make it possible to determine velocity relative to water, the proposed algorithm yields absolute velocity of AUV relative to seabed. The method can be used for additional correction in data fusion with information obtained with the aid of modern velocity sensors, in particular, Doppler lag.
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