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@inproceedings{osborn2015, title = {AUV State Estimation and Navigation to Compensate for Ocean Currents}, booktitle = {OCEANS 2015 - MTS/IEEE Washington}, author = {J. Osborn and S. Qualls and J. Canning and M. Anderson and D. Edwards and E. Wolbrecht}, pages = {1-5}, month = {October}, year = {2015}, keywords = {Kalman filters;autonomous underwater vehicles;compensation;marine navigation;nonlinear filters;oceanographic techniques;state estimation;AUV state estimation;autonomous underwater vehicle;extended Kalman filter;modified heading controller;navigation;noise estimation;ocean current compensation;water-current estimation;Acoustic measurements;Covariance matrices;Current measurement;Estimation;Navigation;Oceans;Sea measurements;AUV;EKF;LBL;Localization;Navigation;Ocean Current Compensation}, abstract = {This paper presents a novel approach to water-current compensation for autonomous underwater vehicle (AUV) state estimation and navigation. The approach is twofold: first, an extended Kalman filter estimates both the AUV state and water-currents in the north and east directions; second, these water-current estimates are used in a modified heading controller to calculate a current-compensated desired heading for the AUV to follow. Both the extended Kalman filter and modified heading controller are presented and simulated using historical experimental data for noise estimation. The presented results are a promising first step towards further testing and real-time implementation on the AUVs for localization and navigation in ocean environments.}}