Terrain-based Navigation for Underwater Vehicles Using Side Scan Sonar Images

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Publications associées (27)

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Philipp Clausen

The use of a Bayesian filter (e.g., Kalman filter) for the fusion of information from satellite positioning and inertial navigation is a common approach in many applications, where the knowledge of position, velocity, and attitude in space are of great int ...

EPFL2019

Optimal Stochastic Sensor Error Modeling based on Actual Impact on Quality of GNSS-INS Integrated Navigation

Jan Skaloud, Stéphane Guerrier, Mehran Khaghani

Proper modeling of stochastic errors in inertial sensors plays a crucial role in the achievable quality of GNSS-INS integration especially with low-cost inertial sensors. Generalized Method of Wavelet Moments (GMWM) can model the underlying process for suc ...

2019

Easily Deployable Underwater Acoustic Navigation System for Multi-Vehicle Environmental Sampling Applications

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill, Anwar Ahmad Quraishi

Water as a medium poses a number of challenges for robots, limiting the progress of research in underwater robotics vis-a-vis ground or aerial robotics. The primary challenges are satellite based positioning and radio communication being unusable due to hi ...

IEEE2019

The Navigation of Robotic Fiber Positioners in SDSS-V Project: Design and Implementation

Denis Gillet, Jean-Paul Richard Kneib, Matin Macktoobian

SDSS-V project is one of the major observational cosmological projects which aims to generate the map of the observable universe by collecting spectroscopic data from the sky using optical fibers. Each optical fiber is attached to a robotic positioner to b ...

IEEE2019

Energetics of Radiatively Heated Ice-Covered Lakes

Alfred Johny Wüest, Damien Bouffard, Hugo Nicolás Ulloa Sánchez, Kraig Bates Winters

We derive the mechanical energy budget for shallow, ice-covered lakes energized by penetrative solar radiation. Radiation increases the available and background components of the potential energy at different rates. Available potential energy drives under- ...

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Assessment of VDM-based autonomous navigation of a UAV under operational conditions

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This paper presents extensions and practical realization of a previously proposed novel approach to navigation and sensor integration for small unmanned aerial vehicles (UAV). The proposed approach employs vehicle dynamic model (VDM) as process model withi ...

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Vehicle Dynamic Model Based Navigation for Small UAVs

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The dominant navigation system for small civilian UAVs today is based on integration of inertial navigation system (INS) and global navigation satellite system (GNSS). This strategy works well to navigate the UAV, as long as proper reception of GNSS signal ...

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