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cs.RO2026
Analytical Covariance Propagation for DVL-Aided Loosely Coupled SINS Under Attitude Uncertainty
Jin Huang, Zichen Liu, Haoda Li +5
In loosely coupled strapdown inertial navigation system/Doppler velocity log (SINS/DVL) integration, the body-frame DVL velocity is projected into the navigation frame using the SI…
cs.RO2025
Precise Time Delay Measurement and Compensation for Tightly Coupled Underwater SINS/piUSBL Navigation
Jin Huang, Yingqiang Wang, Haoda Li +3
In multisensor systems, time synchronization is particularly challenging for underwater integrated navigation systems (INSs) incorporating acoustic positioning, where time delays c…
cs.RO2024
Control System Design and Experiments for Autonomous Underwater Helicopter Docking Procedure Based on Acoustic-inertial-optical Guidance
Haoda Li, Xinyu An, Rendong Feng +5
A control system structure for the underwater docking procedure of an Autonomous Underwater Helicopter (AUH) is proposed in this paper, which utilizes acoustic-inertial-optical gui…