Publicación: Implementation of an Unmanned Surface Vehicle for Environmental Monitoring Applications
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Institute of Electrical and Electronics Engineers Inc.
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2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018
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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.
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ACKNOWLEDGMENT This work is supported by Universidad Tecnologica de Bolivar under contract FI1506T2001 ”Design and Implementation of an Autonomous Operation System for a boat”.
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9781538684641