Autonomous underwater vehicle motion tracking using a Kalman filter for sensor fusion

S. Holtzhausen; O. Matsebe; N. S. Tlale; G. Bright

doi:10.1109/MMVIP.2008.4749515

Autonomous underwater vehicle motion tracking using a Kalman filter for sensor fusion

S. Holtzhausen, O. Matsebe, N. S. Tlale, G. Bright

Mechanical, Energy & Industrial Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08
Pages	103-108
Number of pages	6
DOIs	https://doi.org/10.1109/MMVIP.2008.4749515
Publication status	Published - 2008
Event	15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08 - Auckland, New Zealand Duration: Dec 2 2008 → Dec 4 2008

Publication series

Name	15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08

Other

Other	15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08
Country/Territory	New Zealand
City	Auckland
Period	12/2/08 → 12/4/08

All Science Journal Classification (ASJC) codes

Computer Vision and Pattern Recognition
Control and Systems Engineering
Electrical and Electronic Engineering
Mechanical Engineering

Access to Document

10.1109/MMVIP.2008.4749515

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). Article 4749515 (15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08). https://doi.org/10.1109/MMVIP.2008.4749515

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title = "Autonomous underwater vehicle motion tracking using a Kalman filter for sensor fusion",

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.",

author = "S. Holtzhausen and O. Matsebe and Tlale, {N. S.} and G. Bright",

year = "2008",

doi = "10.1109/MMVIP.2008.4749515",

language = "English",

isbn = "9780473135324",

series = "15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08",

pages = "103--108",

booktitle = "15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08",

note = "15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08 ; Conference date: 02-12-2008 Through 04-12-2008",

}

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, 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08, 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. et al.
15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08. 2008. p. 103-108 4749515 (15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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T1 - Autonomous underwater vehicle motion tracking using a Kalman filter for sensor fusion

AU - Holtzhausen, S.

AU - Matsebe, O.

AU - Tlale, N. S.

AU - Bright, G.

PY - 2008

Y1 - 2008

N2 - 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.

AB - 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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M3 - Conference contribution

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T3 - 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08

SP - 103

EP - 108

BT - 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08

T2 - 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08

Y2 - 2 December 2008 through 4 December 2008

ER -

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. (15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08). doi: 10.1109/MMVIP.2008.4749515

Autonomous underwater vehicle motion tracking using a Kalman filter for sensor fusion

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