Kihan Park

Drift-Compensated UUV Velocity and Trajectory Estimation Using Hybrid Multisensor Fusion

Inertial velocity estimation in underwater environments is fundamentally limited by unbounded drift arising from bias integration and the lack of external references. This article presents a hybrid flexible velocity sensor-based Kalman framework (HyFLEX-Vel-KF) that combines physics-based hydrodynamic sensing with stoc...