Autonomous underwater vehicle motion tracking using a Kalman filter for sensor fusion

S. Holtzhausen, O. Matsebe, N. S. Tlale, G. Bright

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

AUVs are ideal platforms for search and rescue operations. They can also be used for inspection of underwater terrains. These vehicles need to be autonomous and robust to cope with unpredictable current and high pressures. In this paper it will be shown how a Kalman Filter is used to estimate the position of an autonomous vehicle in a three dimensional space. The Kalman filter is used to estimate movement and position using measurements from multiple sensors.

Original languageEnglish
Title of host publication15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08
Pages103-108
Number of pages6
DOIs
Publication statusPublished - 2008
Event15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08 - Auckland, New Zealand
Duration: Dec 2 2008Dec 4 2008

Other

Other15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08
CountryNew Zealand
CityAuckland
Period12/2/0812/4/08

Fingerprint

Autonomous underwater vehicles
Kalman filters
Fusion reactions
Position measurement
Sensors
Inspection

All Science Journal Classification (ASJC) codes

  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Holtzhausen, S., Matsebe, O., Tlale, N. S., & Bright, G. (2008). Autonomous underwater vehicle motion tracking using a Kalman filter for sensor fusion. In 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08 (pp. 103-108). [4749515] https://doi.org/10.1109/MMVIP.2008.4749515
Holtzhausen, S. ; Matsebe, O. ; Tlale, N. S. ; Bright, G. / Autonomous underwater vehicle motion tracking using a Kalman filter for sensor fusion. 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08. 2008. pp. 103-108
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Holtzhausen, S, Matsebe, O, Tlale, NS & Bright, G 2008, Autonomous underwater vehicle motion tracking using a Kalman filter for sensor fusion. in 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08., 4749515, pp. 103-108, 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08, Auckland, New Zealand, 12/2/08. https://doi.org/10.1109/MMVIP.2008.4749515

Autonomous underwater vehicle motion tracking using a Kalman filter for sensor fusion. / Holtzhausen, S.; Matsebe, O.; Tlale, N. S.; Bright, G.

15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08. 2008. p. 103-108 4749515.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Holtzhausen S, Matsebe O, Tlale NS, Bright G. Autonomous underwater vehicle motion tracking using a Kalman filter for sensor fusion. In 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08. 2008. p. 103-108. 4749515 https://doi.org/10.1109/MMVIP.2008.4749515