Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation

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</svg> plane close to TDP for the dynamic condition, showing simulated robot trajectory (dashed), simulated and processed external measurements from depth sensor and IMU models (<svg height="10.6625" id="M259" style="vertical-align:-0.0pt" version="1.1" viewbox="0 0 11.4125 10.6625" width="11.4125" xmlns="http://www.w3.org/2000/svg">
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<tspan style="font-size: 12.50px; " x="0" y="0">Δ</tspan>
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</svg>) and Kalman Filter estimates (clearer dots).</table>

Journal of Robotics

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Figure 16

Figure 16: Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation 