Abstract
This paper describes field testing of state estimation and navigation for autonomous underwater vehicle (AUV) operation in the presence of water currents. In the presented approach, an extended Kalman filter (EKF) is used to estimate the water currents in the north and east directions in real-time during AUV missions. These water current estimates are then used to compensate the desired AUV heading so that the resultant velocity vector of the AUV achieves proper waypoint path following behavior. This work builds on previous evaluation of the approach in simulation; here, we present results from preliminary field testing.
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