Acoustic motion estimation in a structured environment for an unmanned underwater vehicle

摘要

This paper addresses the problem of slow motion estimation and localization of an Unmanned Underwater Vehicle (UUV) in the proximity of underwater structures by means of range and bearing sonar measurements. A Kalman filter motion estimation technique based on dynamic model of vehicle motion in a partially known environment is discussed. Resutls of pool tests carried out with a high frequency pencil beam profiling sonar mounted on a prototype UUV are presented.