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010   $a3-030-15596-X
024 7 $a10.1007/978-3-030-15596-4
035   $a(CKB)4100000007992463
035   $a(MiAaPQ)EBC5754916
035   $a(DE-He213)978-3-030-15596-4
035   $a(PPN)243770251
035   $a(EXLCZ)994100000007992463
100   $a20190416d2020      uy         0
101 0 $aeng
135   $aurcnu||||||||
181   $ctxt$2rdacontent
182   $cc$2rdamedia
183   $acr$2rdacarrier
200 10$aDevelopment and testing of navigation algorithms for autonomous underwater vehicles /$fFrancesco Fanelli
205   $a1st edition 2020.
210  1$aCham :$cSpringer International Publishing :$cImprint: Springer,$d2020.
215   $a1 online resource (108 pages)
225 1 $aSpringer Theses, Recognizing Outstanding Ph.D. Research,$x2190-5053
300   $aDoctoral Thesis accepted by University of Florence, Italy.
311 1 $a3-030-15595-1 
320   $aIncludes bibliographical references.
327   $aIntroduction -- Involved vehicles -- Mathematical background  -- Navigation ?lter -- Results -- Conclusion.
330   $aThis book focuses on pose estimation algorithms for Autonomous Underwater Vehicles (AUVs). After introducing readers to the state of the art, it describes a joint endeavor involving attitude and position estimation, and details the development of a nonlinear attitude observer that employs inertial and magnetic field data and is suitable for underwater use. In turn, it shows how the estimated attitude constitutes an essential type of input for UKF-based position estimators that combine position, depth, and velocity measurements. The book discusses the possibility of including real-time estimates of sea currents in the developed estimators, and highlights simulations that combine real-world navigation data and experimental test campaigns to evaluate the performance of the resulting solutions. In addition to proposing novel algorithms for estimating the attitudes and positions of AUVs using low-cost sensors and taking into account magnetic disturbances and ocean currents, the book provides readers with extensive information and a source of inspiration for the further development and testing of navigation algorithms for AUVs. .
410  0$aSpringer theses$x2190-5053
606   $aRobotics
606   $aAutonomous underwater vehicles$xDesign and construction
606   $aAutonomous underwater vehicles$xTesting
615  0$aRobotics.
615  0$aAutonomous underwater vehicles$xDesign and construction.
615  0$aAutonomous underwater vehicles$xTesting.
676   $a623.89015
676   $a623.8205
700   $aFanelli$b Francesco$4aut$4http://id.loc.gov/vocabulary/relators/aut$0186181
906   $aBOOK
912   $a9910483707803321
996   $aDevelopment and Testing of Navigation Algorithms for Autonomous Underwater Vehicles$92846416
997   $aUNINA