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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    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.",
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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