USBL integration and experimental assessment in a multisensor EKF-based AUV navigation approach

Author Eric Guerrero Font
In Automatic Control Department. Universitat Politècnica de Catalunya, 2016.

This Master’s Thesis details the practical implantation of an acoustic positioning and communication system in an autonomous underwater vehicle used for research purposes. The implementation has been followed by the evaluation of the system performance. Both, in simulation and in field tests. The purpose of this integration, is to provide an absolute position measurement and a continuous communication link when the robot is underwater, in order to increase the localization accuracy and the robot supervision.

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