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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.}}