Pose Estimation of UUVs with DVL using Factor Graph Optimization

The Master Thesis of Jonas Wüst tackles the underwater localization problem by combining the technology of multiple positioning sensors like DVL, Underwater GPS and AHRS with a state of the art sensor fusion algorithm called GTSAM. The goal is to increase the accuracy, precision and stability of underwater localization while keeping the flexibility and maneuverability of the system high. This step brings the robots of Tethys Robotics closer to autonomy as well as to mapping the environment. If you are interested in this topic, please do not hesitate in contacting us.