Implementation of an Unmanned Surface Vehicle for Environmental Monitoring Applications
Abstract
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.
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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Except where otherwise noted, this item's license is described as http://creativecommons.org/licenses/by-nc-nd/4.0/
