Navigation Filter

  • Francesco FanelliEmail author
Part of the Springer Theses book series (Springer Theses)


This chapter is dedicated to the AUV navigation filter developed during the Ph.D. period. Such filter is able to estimate the complete pose of an UUV fusing the measurements of onboard sensors in real-time. In particular, a parallel structure has been chosen (Fig. 4.1): attitude is estimated independently using IMU, compass, and FOG data, and constitutes an input for the position estimation filter.


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Department of Industrial EngineeringUniversity of FlorenceFlorenceItaly

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