03030nam 22004935 450 991048370780332120220914203326.03-030-15596-X10.1007/978-3-030-15596-4(CKB)4100000007992463(MiAaPQ)EBC5754916(DE-He213)978-3-030-15596-4(PPN)243770251(EXLCZ)99410000000799246320190416d2020 uy 0engurcnu||||||||txtrdacontentcrdamediacrrdacarrierDevelopment and testing of navigation algorithms for autonomous underwater vehicles /Francesco Fanelli1st edition 2020.Cham :Springer International Publishing :Imprint: Springer,2020.1 online resource (108 pages)Springer Theses, Recognizing Outstanding Ph.D. Research,2190-5053Doctoral Thesis accepted by University of Florence, Italy.3-030-15595-1 Includes bibliographical references.Introduction -- Involved vehicles -- Mathematical background -- Navigation filter -- Results -- Conclusion.This book focuses on pose estimation algorithms for Autonomous Underwater Vehicles (AUVs). After introducing readers to the state of the art, it describes a joint endeavor involving attitude and position estimation, and details the development of a nonlinear attitude observer that employs inertial and magnetic field data and is suitable for underwater use. In turn, it shows how the estimated attitude constitutes an essential type of input for UKF-based position estimators that combine position, depth, and velocity measurements. The book discusses the possibility of including real-time estimates of sea currents in the developed estimators, and highlights simulations that combine real-world navigation data and experimental test campaigns to evaluate the performance of the resulting solutions. In addition to proposing novel algorithms for estimating the attitudes and positions of AUVs using low-cost sensors and taking into account magnetic disturbances and ocean currents, the book provides readers with extensive information and a source of inspiration for the further development and testing of navigation algorithms for AUVs. .Springer theses2190-5053RoboticsAutonomous underwater vehiclesDesign and constructionAutonomous underwater vehiclesTestingRobotics.Autonomous underwater vehiclesDesign and construction.Autonomous underwater vehiclesTesting.623.89015623.8205Fanelli Francescoauthttp://id.loc.gov/vocabulary/relators/aut186181BOOK9910483707803321Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles2846416UNINA