Application: pHydroMAN_ModelCalibrator

Brief Synopsis:

A MOOS app that calibrates the basic AUV dynamic model in real-time.

Authors:

  • Supun Randeni

Groups:

Distribution:

Documentation:

Contact Email:

  • supun@mit.edu

Function:

pHydroMAN_ModelCalibrator MOOS app calibrates the basic model based localization solution (i.e. the output from pHydroMAN_BasicModel) to the current operating environment and counteracts the drift in model based position when reliable acoustic position fixes are available. The app posts the calibrated model based AUV velocity and position solution. It is able to process time-lagged acoustic position updates if required.