EKF 방법을 이용한 수중 로봇의 위치 추정

Abstract

This paper describes Extended Kalman Filter (EKF) to estimate pose of an underwater robot. Existing Kalman filter based method is applied which estimates a robot pose by fusing robot motion and external environment information. In this paper, internal sensor information on motion of an underwater robot that is surge and yaw velocities, and external sensor information that is range and bearing between a robot and externally fixed landmarks are assumed. The result of EKF method is illustrated through simulation in the paper with known correspondences according to external sensor information.paper, internal sensor information on motion of an underwater robot that is surge and yaw velocities, and external sensor information that is range and bearing between a robot and externally fixed landmarks are assumed. The result of EKF method is illustrated through simulation in the paper with known correspondences according to external sensor information.