OCP based decentralized data fusion for Autonomous Underwater Vehicles

In this paper, an online decentralized multisensor data fusion algorithm facilitated by middleware networked using CORBA event channel is proposed, in order to deal with simplifying problem in sensor registration and fusion for vehicle state estimation. The networked based navigation concept for Autonomous Underwater Vehicle (AUV) using several sensors is presented. A simulation of various application scenarios are considered by choosing several parameters of UKF, i.e. weighting constant for sigma points and square root matrix. Normalized mean-square error (MSE) of Monte Carlo simulations are computed and reported in the simulation results. Furthermore, the middleware infrastructure based on Open Control Platform (OCP) to support the interconnection between the whole filter structures also reported.