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.
Integrating generic sensor fusion algorithms with sound state representations through encap- sulation of manifolds,
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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.