A Unified Neural-Aided Alignment and Calibration Method for AUVs
IndustryAI 56
Source: arXiv cs.ROPublish time unverified
arXiv:2608.22496v1 Announce Type: new Abstract: Autonomous underwater vehicles (AUVs) rely on the fusion of inertial navigation systems (INS) and Doppler velocity logs (DVL) for accurate navigation. Before deployment, this fusion requires a DVL initialization pipeline consisting of two stages: alignment, which estimates the rotation between the INS and DVL frames, and calibration, which estimates the DVL error terms.