The HUGIN AUV terrain navigation module

Terrain navigation is an attractive method for obtaining submerged position fixes for autonomous underwater vehicle (AUV), based on terrain measurements and a terrain map of the operation area. On-going research at the Norwegian Defence Research Establishment (FFI) has resulted in a real-time terrain navigation module for the Kongsberg HUGIN AUVs, based on a point mass filter (PMF) estimator. This system is now available as an optional module for the HUGIN vehicles, and has recently been delivered to customers. The paper gives an overview of the HUGIN terrain navigation module and its integration with the rest of the HUGIN navigation system. Results from sea trials using a HUGIN 1000 AUV with an EM2040 are presented, demonstrating some of the capabilities of the system.