Autori
Riccardo Costanzi
Abstract
Navigation is the crucial part of the control system of Unmanned Underwater Vehicles mainly because of the impossibility of exploiting positioning sensors based on radio waves commonly used for air or land applications (e.g. Global Positioning System – GPS). Acoustics sensors are, instead, used to enhance the navigation performance of systems based on Inertial Measurement Units (IMU) and Doppler Velocity Logs (DVL). Within the Interuniversity Center of Integrated Systems for the Marine Environment (ISME), the University of Pisa and the University of Florence nodes began to collaborate on this research topic from several years. This work reports the outcome of the research activity I recently collaborated to within the two groups. Achieved results and the still open points that will be the object of the future study are summarized; the main recent publications on the topic are attached for details.
