Acquacoltura e Pesca Pubblicazione scientifica Experimental verification of underwater positioning system in aquaculture FILONE TECNOLOGICO TEMA economia circolare e sostenibilità produzione e raccolta trasformazione e commercializzazione RIASSUNTO This paper presents a filter for positioning of an underwater vehicle in exposed aquaculture environments. The input to the filter is time of flight measurements from acoustic transponders mounted at near the sea surface. The transponders are exposed to oscillations from wave disturbances. This has an impact on the accuracy of the positioning system. An extended Kalman filter (EKF) solution has been proposed with a wave motion compensation. Experimental results show that the proposed filter compensates for the disturbances and thereby increase performance of the position estimate. DATA Data di pubblicazione: 01/06/2017 AUTORI STIAN SKAALVIK SANDOY INGRID SCHJOLBERG ENTE DI AFFERENZA NORWEGIAN UNIV SCIENCE & TECH DEPT MARINE TECH RIVISTA OCEANS 2017 - Aberdeen (Page(s): 1-7) IMPACT FACTOR N.D.