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nesl / robust_depth_filter

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An intelligent underwater depth estimator exploiting COTS underwater pressure sensors. The filter takes in pressure and temperature from the sensor (and timestamps from an RTC) and uses an alpha-beta filter to calculate the depth of the object, with built-in thermocline, noise and timestamping error compensation.

c localization robust underwater-robotics kalman-filter odometry pressure-sensor dead-reckoning altitude-measurements alpha-beta-filter thermocline-storage depth-filtering salinity-profile
  • Updated Mar 31, 2021
  • C++

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