Navigation system development of the Underwater Vehicles using the GPS / INS sensor fusion

Sensor fusion of GPS/INS using the Kalman filter design is proposed in this paper. GPS/INS data are utilized for estimating position of AUV (Autonomous Underwater Vehicle) and Kalman filter elaborate the position estimation. The received GPS signals are stable most of times, because they correct the position from signals received by a satellite signals in real-time. But they are not accurate. So the INS data (gyroscope sensor, accelerometer, magnetic compass) compensate for the inaccuracy of the GPS data. The noise in the acceleration data from INS data is reduced by Kalman filter in this paper. So, the KF localization system in surface of the water is proposed in this paper the system performance is confirmed by experiments.