STERN uses factor graphs to unify modeling of trajectory estimation and relative navigation for AUV proximity operations, demonstrated on long-distance acoustic homing to a moving mothership with simulated and real datasets.
A Concept for Docking a UUV With a Slowly Moving Submarine Under Waves
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STERN: Simultaneous Trajectory Estimation and Relative Navigation for Autonomous Underwater Proximity Operations
STERN uses factor graphs to unify modeling of trajectory estimation and relative navigation for AUV proximity operations, demonstrated on long-distance acoustic homing to a moving mothership with simulated and real datasets.