A real-time unscented Kalman filter on manifolds for challenging AUV navigation
Théophile Cantelobre,Clément Chahbazian,Arnaud Croux,Silvère Bonnabel,Théophile Cantelobre,Clément Chahbazian,Arnaud Croux,Silvère Bonnabel
We consider the problem of localization and navigation of Autonomous Underwater Vehicles (AUV) in the context of high performance subsea asset inspection missions in deep water. We propose a solution based on the recently introduced Unscented Kalman Filter on Manifolds (UKF-M) for onboard navigation to estimate the robot's location, attitude and velocity, using a precise round and rotating Earth n...
