Jessica Paterson

A Nonlinear Estimator for Dead Reckoning of Aquatic Surface Vehicles Using an IMU and a Doppler Velocity Log

Aquatic robots require an accurate and reliable localization system to navigate autonomously and perform practical missions. Kalman filters (KFs) and their variants are typically used in aquatic robots to combine sensor data. The two critical drawbacks of KFs are the requirement for skilled tuning o…