An inertial navigation system for small autonomous underwater vehicles

Author

Yun, Xiaoping ; Bachmann, Eric R. ; Arslan, Suat

Author_Institution

Naval Postgraduate Sch., Monterey, CA, USA

Volume

2

fYear

2000

fDate

2000

Firstpage

1781

Abstract

A small AUV navigation system (SANS) has been developed at the Naval Postgraduate School. The SANS is an integrated GPS/INS navigation system composed of low-cost, small-size components. It is designed to demonstrate the feasibility of using a low-cost inertial measurement unit to navigate between intermittent GPS fixes. This paper reports recent improvements to the SANS hardware, latest testing results after compensating heading-dependent derivations in the TCM-2 compass measurements, and development of an asynchronous Kalman filter for improved position estimation

Keywords

Global Positioning System; Kalman filters; compasses; inertial navigation; position control; underwater vehicles; GPS; Kalman filter; Naval Postgraduate School; TCM-2 compass measurements; autonomous underwater vehicles; inertial measurement unit; inertial navigation system; position estimation; Filters; Global Positioning System; Inertial navigation; Land vehicles; Measurement units; Packaging; Remotely operated vehicles; Storage area networks; Testing; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.844853

Filename

844853