Research

Precise Time Delay Measurement and Compensation for Tightly Coupled Underwater SINS/piUSBL Navigation
Underwater integrated navigation Passive inverted USBL (piUSBL) Time synchronization Tightly coupled sensor fusion Autonomous underwater vehicle
Precise Time Delay Measurement and Compensation …
Research Overview Time misalignment between acoustic positioning systems and inertial navigation sensors is a critical …
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A DVL-Aided Loosely Coupled Inertial Navigation Strategy for AUVs with Attitude Error Modeling and Variance Propagation
Underwater integrated navigation SINS/DVL loosely coupled fusion Attitude error compensation Covariance propagation Autonomous underwater vehicle
A DVL-Aided Loosely Coupled Inertial Navigation …
Research Overview Loosely coupled SINS/DVL architectures are widely adopted in autonomous underwater vehicles due to …
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Raspi²USBL: An open-source Raspberry Pi–Based Passive Inverted Ultra-Short Baseline Positioning System for Underwater Robotics
Underwater acoustic positioning Passive inverted USBL (piUSBL) Open-source hardware Raspberry Pi AUV swarm localization
Raspi²USBL: An open-source Raspberry Pi–Based …
Research Overview Underwater robotics experiments often require positioning capability in environments where GNSS is …
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GNSS-aided installation error compensation for DVL/INS integrated navigation system using error-state Kalman filter
INS/DVL integration Installation error compensation Error-state Kalman filter GNSS-aided calibration Autonomous underwater vehicle
GNSS-aided installation error compensation for …
Research Overview This work addresses installation errors of Doppler Velocity Log (DVL) sensors in SINS/DVL integrated …
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