Underwater Vehicle Localization Considering the Effects of its Oscillation

摘要

There are many marine resources in Japanese ocean, those have been surveyed by a underwater robot. The accuracy of the resources survey results using the vehicle depends on the accuracy of its self-localization. Thus, we propose a self-localization method by Kalman filter consdering the effect of vehicle's oscillation and the effect of the current. It is possible to reduce the positioning accuracy by 0.2 m by considering the effect of the vehicle's oscillation. In future work, we will develop an algorithm considering delay time for sensor fusion with acoustic positioning device.