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dc.title Navigation System for MACÁBOT an Autonomous Surface Vehicles Using GPS Aided Strapdown Inertial Navigation System en
dc.type Artículo es
dcterms.abstract In this work the design, implementation and real-time tests of a navigation system for the autonomous surface vehicle MACÁBOT is presented. This vehiclerepresents a versatile platform to perform several tasks inthe marine environment, such as; ports maintenance,marine productive ecosystems studies and bathymetries.The navigation system is responsible for accuratelydetermining the position, velocity and attitude of the vehicle.It represents a fundamental component to autonomouslycarry out any of the aforementioned tasks. In this work, thenavigation system is developed based on a GPS aided strapdown inertial navigation system using an extended Kalmanfilter sensor fusion algorithm. In order to provide an adaptive approach to the sensor fusion algorithm tuning afuzzy inference system is used. The navigation system wasimplemented as a package for the Robot Operating System,benefiting from the advantages of heterogeneity, integrationand hardware abstraction. Real time tests of theMACÁBOT on a local creek were carried out, showingsatisfactory performance of the navigation system in bothposition and velocity estimates. In addition to these tests,simulations of GPS outages were carried out with theregistered data to evaluate the performance of thenavigation system in such cases. en
dcterms.extent 1009-1019 es
dcterms.issued 2019
dcterms.language Inglés es
dcterms.license Attribution-NonCommercial-NoDerivatives 4.0 Internacional es
dcterms.subject Autonomous Surface Vehicles en
dcterms.subject Aided Inertial Navigation System en
dcterms.subject Extended Kalman Filter en
dcterms.subject Fuzzy Inference System en
dcterms.subject Robot Operating System en
cic.version info:eu-repo/semantics/submittedVersion es Menna, Bruno V. es Villar, Sebastián es Acosta, Gerardo G. es
cic.lugarDesarrollo Centro de Investigaciones en Física e Ingeniería es
dcterms.subject.materia Ingenierías y Tecnologías es
dcterms.isPartOf.issue vol. 17, no. 6 es
cic.isPeerReviewed true es
cic.isFulltext true es
cic.institucionOrigen Centro de Investigaciones en Física e Ingeniería del Centro de la Provincia de Buenos Aires (CIFICEN). Universidad Nacional del Centro de la Prov. de Bs. As. (UNICEN) es


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