Implementation of an Unmanned Surface Vehicle for Environmental Monitoring Applications

Environmental monitoring in inland waters is an important issue for adequate planning and management of this kind of territories. This paper shows the implementation of the concepts and strategies for a boat to follow a pre-established route through waypoints oriented to these water bodies. An exten...

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Autores:
Tipo de recurso:
Fecha de publicación:
2018
Institución:
Universidad Tecnológica de Bolívar
Repositorio:
Repositorio Institucional UTB
Idioma:
eng
OAI Identifier:
oai:repositorio.utb.edu.co:20.500.12585/9202
Acceso en línea:
https://hdl.handle.net/20.500.12585/9202
Palabra clave:
Autonomous Vehicles
Environmental monitoring
Marine robotics
Navigation
Quaternion
Sensor fusion
Autonomous vehicles
Environmental engineering
Kalman filters
Marine navigation
Navigation
Robotics
Robots
Unmanned surface vehicles
Calm conditions
Environmental monitoring
Inertial units
Inland waters
Marine robotics
Quaternion
Sensor fusion
Waterbodies
Environmental management
Rights
restrictedAccess
License
http://creativecommons.org/licenses/by-nc-nd/4.0/
Description
Summary:Environmental monitoring in inland waters is an important issue for adequate planning and management of this kind of territories. This paper shows the implementation of the concepts and strategies for a boat to follow a pre-established route through waypoints oriented to these water bodies. An extended Kalman filter is used to estimate orientation and position using the readings of an inertial unit fused with a magnetometer and GPS. The strategy shows to be valid in calm conditions, which is sufficient for the mission. © 2018 IEEE.