Sensor data fusion in marine robotics

摘要

Abstract- Sensor data fusion is an important and di cult requirement in marine robotics. This paper examines the role of sensor fusion in three di erent application areas: navigation of autonomous underwater vehicles, acoustic scene reconstruction, and ocean data assimilation. The research issues encountered in these problems include management of uncertainty, modeling of sensor physics, vehicle and environment dynamics, feature extraction, data association, state estimation, and sensor management. Previous research in these areas is reviewed and suggestions for future research are presented. Keywords: underwater robotics; data fusion; sonar; navigation.