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Navigation Sensor Data Fusion for the AUV Remus

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The development of a navigation sensor data fusion algorithm for the autonomous underwater vehicle (AUV) Remus is described. Remus is a small, low-cost AUV designed and built at the Ocean Systems Laboratory of the Woods Hole Oceanographic Institute. The navigation sensors for Remus include an acoustic navigation system, a Doppler velocity sonar, and a compass. The data from these sensors are integrated in an extended Kalman filter, with the objective of producing a more accurate vehicle track. Postprocessing results using data from two recent field trials are presented.


Document Type: Research Article

Publication date: 2001-01-01

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