Preprint
Aug 2026
A Unified Neural-Aided Alignment and Calibration Method for AUVs
A fully neural- aided DVL initialization pipeline is proposed that replaces both stages with two complementary neural networks: ResAlignNet for alignment and DCNet for calibration, which reduces the velocity root mean squared error by an average of 68.7% over the model-based baseline.
Guy Damari, Zeev Yampolsky, Itzik Klein
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