An integrated GPS/INS navigation system for small AUVs using an asynchronous Kalman filter

Author

Yun, X. ; Hernandez, G.C. ; Bachmann, E.R. ; Mcghee, R.B. ; Healey, A.J.

Author_Institution

Dept. of Electr. & Comput. Eng., Naval Postgraduate Sch., Monterey, CA, USA

fYear

1998

fDate

20-21 Aug 1998

Firstpage

43

Lastpage

49

Abstract

A small AUV navigation system (SANS) is being 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 (IMU) to navigate between intermittent GPS fixes. The paper reports 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; inertial navigation; remotely operated vehicles; underwater vehicles; TCM-2 compass measurements; asynchronous Kalman filter; heading-dependent derivations; inertial measurement unit; integrated GPS/INS navigation system; small AUVs; Filters; Global Positioning System; Hardware; Land vehicles; Measurement units; Navigation; Packaging; Position measurement; Storage area networks; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Underwater Vehicles, 1998. AUV'98. Proceedings of the 1998 Workshop on

Conference_Location

Cambridge, MA

Print_ISBN

0-7803-5190-8

Type

conf

DOI

10.1109/AUV.1998.744438

Filename

744438