Springer Theses

Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles

Authors: Fanelli, Francesco

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  • Nominated as an outstanding PhD thesis by University of Florence, Italy
  • Describes novel algorithms for AUV pose and attitude estimation
  • Includes extensive validation results obtained in field tests
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eBook $109.00
price for USA in USD (gross)
  • ISBN 978-3-030-15596-4
  • Digitally watermarked, DRM-free
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  • Immediate eBook download after purchase
Hardcover $179.99
price for USA in USD
  • ISBN 978-3-030-15595-7
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
About this book

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. 

Table of contents (6 chapters)

Table of contents (6 chapters)

Buy this book

eBook $109.00
price for USA in USD (gross)
  • ISBN 978-3-030-15596-4
  • Digitally watermarked, DRM-free
  • Included format: PDF, EPUB
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $179.99
price for USA in USD
  • ISBN 978-3-030-15595-7
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
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Bibliographic Information

Bibliographic Information
Book Title
Development and Testing of Navigation Algorithms for Autonomous Underwater Vehicles
Authors
Series Title
Springer Theses
Copyright
2020
Publisher
Springer International Publishing
Copyright Holder
Springer Nature Switzerland AG
eBook ISBN
978-3-030-15596-4
DOI
10.1007/978-3-030-15596-4
Hardcover ISBN
978-3-030-15595-7
Series ISSN
2190-5053
Edition Number
1
Number of Pages
XIX, 97
Number of Illustrations
2 b/w illustrations, 50 illustrations in colour
Topics