Performance of an AUV navigation system at Arctic latitudes

Author

McEwen, Rob ; Thomas, Hans ; Weber, Don ; Psota, Frank

Author_Institution

Monterey Bay Aquarium Res. Inst., Moss Landing, CA, USA

Volume

30

Issue

2

fYear

2005

fDate

4/1/2005 12:00:00 AM

Firstpage

443

Lastpage

454

Abstract

In October 2001, the Monterey Bay Aquarium Research Institute (MBARI) operated an autonomous underwater vehicle (AUV) in the Arctic at latitudes exceeding 80°. The navigation instruments consisted of a ring-laser gyro inertial navigation system (INS) coupled with a DVL and GPS, a separate fiber-optic-based gyro-compass, and a traditional flux-gate AHRS system. The instruments were tested on deck, in open water, and under ice. This paper describes the performance of these instruments at high latitudes.

Keywords

compasses; gyroscopes; inertial navigation; oceanographic equipment; remotely operated vehicles; underwater vehicles; AUV navigation system; Arctic latitudes; DVL; GPS; autonomous underwater vehicle; fiber-optic-based gyro-compass; flux-gate AHRS system; inertial navigation system; mobile robot; navigation instruments; sonar navigation; Arctic; Global Positioning System; Ice; Inertial navigation; Instruments; Mobile robots; Sea measurements; Sonar navigation; Testing; Underwater vehicles; Arctic regions; autonomous underwater vehicles (AUVs); gyrocompass; inertial navigation; inertial navigation system (INS); mobile robot; sonar navigation; underwater vehicles;

fLanguage

English

Journal_Title

Oceanic Engineering, IEEE Journal of

Publisher

ieee

ISSN

0364-9059

Type

jour

DOI

10.1109/JOE.2004.838336

Filename

1522522