Abstract
Autonomous Surface Vehicles (ASVs) can be employed as platforms to study Autonomous Underwater Vehicles (AUVs) navigation. Navigation systems are commonly constituted by combining data from multiple on-board sensors in order to optimize position and orientation estimates, improving its accuracy, performance, and stability. Sensory fusion techniques are responsible for performing the combination of data from on-board sensors in the vehicle. Among the available techniques, the Kalman filter is the most used. In this work, a trimaran type ASV is presented, and its application in the field of AUV navigation is discussed.
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