An intelligent underwater depth estimator exploiting COTS underwater pressure sensors. The filter takes in pressure and temperature from the sensor (and timestamps from an RTC) and uses an alpha-beta filter to calculate the depth of the object, with built-in thermocline, noise and timestamping error compensation.
c
localization
robust
underwater-robotics
kalman-filter
odometry
pressure-sensor
dead-reckoning
altitude-measurements
alpha-beta-filter
thermocline-storage
depth-filtering
salinity-profile
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Updated
Mar 31, 2021 - C++