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Autonomous underwater navigation remains, as of today, a challenging task. The marine environment limits the number of sensors available for precise localization, hence Autonomous Underwater Vehicles (AUVs) usually rely on inertial and velocity sensors to obtain an estimate of their position either through dead reckoning or by means of more sophisticated navigation filters (such as Kalman filters and its extensions [2]). On the other hand, acoustic localization makes possible the determination of a reliable vehicles pose estimate exploiting suitable acoustic modems [3]; such estimate can even be integrated within the navigation filter of the vehicle in order to increase its accuracy. In this paper, the authors discuss the development and the performance of an Ultra-Short BaseLine (USBL) buoy to aid the navigation of AUVs.

At first, the components and the physical realization of the buoy will be discussed; then, the procedure to compute the position of the target will be analyzed. The following part of the paper will be focused on the development of a recursive state estimation algorithm to process the measurements computed by the buoy; specifically, Extended Kalman Filter has been adopted to deal with the nonlinearities of the sensor housed on the buoy. A validation of the measurement filtering with data obtained from experimental tests is also proposed.

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==Presentation==

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<pdf>Media:Draft_Pagliai_844336476_9183_MARINE17.pdf</pdf>

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==References==

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[1] B. Siciliano, L. Sciavicco, L. Villani, "Robotics: modelling, planning and control", Springer, London, (2009).

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[2] B. Allotta, A. Caiti, R. Costanzi, F. Fanelli, D. Fenucci, E. Meli and A. Ridolfi, "A new Autonomous Underwater Vehicle navigation system exploiting Unscented Kalman Filter", Ocean Engineering, Vol. 113, pages 121 - 132, (2016).

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[3] L. Christensen, M. Fritsche, J. Albiez and F. Kirchner, USBL pose estimation using multiple responders, In Proceedings MTS/IEEE Conference and Exhibition, OCEANS 2010, Sidney,

(2010).

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[4] S. F. Schmidt, "Applications of State Space Methods to navigation problems" in C. T. Leondes, Editor, Advanced Control Systems, Vol. 3, pag. 293 - 340, (1966).

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[5] R. D. Christ and R. L. Wernli Sr, "The ROV manual", Butterworth-Heinemann, Oxford, (2007).

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[6] P. H. Milne, "Underwater acoustic positioning systems", Spon London, (1983).

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[7] Y. Bar-Shalom, X. Li and T. Kirubarajan, "Estimation with applications to tracking and navigation", John Wiley & Sons, Inc. cop., New York, (2001).

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