This paper presents methodologies for modeling navigation filters for a new type of underwater gliders. The presented glider breaks with the traditional concept of fixed wing gliders. Instead it achieves the desired angle of attack and glidepath with its passively adapting flapping wings, which allows for a travel on even keel. The glider is currently developed in the flying argo project by the university of rostock and BaltiCo GmbH at the ocean technology campus rostock. The key feature of the proposed methodologies is the combination of a motion model with traditional sensor fusion algorithms. The paper closes with simulation results comparing the different approaches.
A Contribution to the Navigation of an Underwater Glider with Passively Adapting Flapping Wings Using Sensor Fusion and a Motion Model
2023-09-25
1456691 byte
Conference paper
Electronic Resource
English
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