Two sub-models run parallel based on the Interacting Multiple Model (IMM). The effectiveness of the proposed integrated navigation method is verified by actual sea trial data from Sailfish 210 AUV.

AUV can reach speeds of 5 knots and sail at 3 knots for over 8 h. Figure 1 shows the basic structure of Sailfish-210 and the sensors required for this experiment, and Table 1 is the technical...

Oct 1, 2022 · Sailfish 210 is a small-sized AUV for shallow sea applications with a diameter of 0.21 m and a length of 2.3 m. It can operate for 10 h, and the maximum cruising speed is 5 knots. The system architecture of Sailfish 210 AUV is shown in Fig. 6.

Sailfish 210 AUV actual sea trial data has been used to validate the effectiveness of the proposed algorithm. The experimental results show that the proposed hybrid multi-branch navigation method can effectively realize AUV navigation, while the performance of trajectory prediction is better than other data-driven methods.

Apr 15, 2024 · Our experimental results on a simulated AUV system modeling Sailfish 210 of our lab in the Gazebo simulation environment show that an AUV trained via WGAIL can achieve a better performance than the one trained via GAIL with different levels of expert sub-optimal demonstrations.

Achieving accurate navigation and localization is crucial for Autonomous Underwater Vehicle (AUV). Traditional navigation algorithms, such as Extended Kalman Filter (EKF) and Unscented Kalman...

We have verified the effectiveness of the proposed algorithm through sea trials conducted in Tuandao Bay, Qingdao, China, using the Sailfish-210 AUV. The results demonstrate that the LSTM-based method outperforms the traditional EKF approach, efficaciously reducing errors in AUV position prediction and enhancing navigation accuracy.

Firstly, the Sage–Husa (SH) based unscented particle filter (UPF) algorithm is proposed to estimate time-varying measurement noise adaptively in AUV path estimation for improving filtering...

Oct 21, 2022 · The Sailfish-210 is an independently developed AUV by the Underwater Vehicle Lab at Ocean University of China. The length of Sailfish-210 is 1.7 m, and the outer diameter of the cabin is 0.21 m. Maximum working depth can reach 200 m.

May 13, 2023 · Based on data-driven and mixed models, this study proposes a fault detection method for autonomous underwater vehicle (AUV) rudder systems. The proposed method can effectively detect faults in the absence of angle feedback from the rudder.