Implementation of an Unmanned Surface Vehicle for Environmental Monitoring Applications

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Date

2018

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Institute of Electrical and Electronics Engineers Inc.

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.

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Citation

2018 IEEE 2nd Colombian Conference on Robotics and Automation, CCRA 2018