Online Kinematic and Dynamic Parameter Estimation for Autonomous Surface and Underwater Vehicles
Anwar Quraishi,Alcherio Martinoli,Anwar Quraishi,Alcherio Martinoli
One of the main challenges in underwater robot localization is the scarcity of external positioning references. Therefore, accurate inertial localization in between external position updates is crucial for applications such as underwater environmental sampling. In this paper, we present a framework for estimating kinematic and dynamic model parameters used for inertial navigation. Accurate values ...
