Title :
Development and implementation of a low-cost LBL navigation system for an AUV
Author :
Matos, Aníbal ; Cruz, Nuno ; Martins, Alfredo ; Pereira, Fernando Lobo
Author_Institution :
Fac. de Engenharia, Porto Univ., Portugal
Abstract :
A reliable navigation system is a key factor for the success of an operational mission with an AUV in a real scenario. We address the main issues involved in the implementation of a long baseline (LBL) navigation system for a REMUS AUV. This system replaces both the original hardware and software of the vehicle with a simpler, faster, less expensive and more precise system, based on a Kalman filter. We also discuss the influence of transponder location in the overall performance of the LBL navigation, and present results obtained with this new system in operational missions
Keywords :
computerised navigation; mobile robots; underwater vehicles; AUV; Isurus; Kalman filter; REMUS AUV; REMUS class AUV; low-cost LBL navigation system; operational mission; reliable navigation system; torpedo shaped vehicle; transponder location; Acoustic measurements; Magnetic sensors; Navigation; Position measurement; Pressure measurement; Propellers; Rotation measurement; Transponders; Vehicles; Velocity measurement;
Conference_Titel :
OCEANS '99 MTS/IEEE. Riding the Crest into the 21st Century
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-5628-4
DOI :
10.1109/OCEANS.1999.804906
