The HUGIN AUV terrain navigation module

Author

Anonsen, Kjetil Bergh ; Hagen, Ove Kent ; Hegrenaes, Oyvind ; Hagen, Per Espen

Author_Institution

Norwegian Defence Res. Establ. (FFI), Kjeller, Norway

fYear

2013

Firstpage

1

Lastpage

8

Abstract

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.

Keywords

autonomous underwater vehicles; mobile robots; navigation; FFI; HUGIN 1000 AUV; HUGIN AUV terrain navigation module; HUGIN navigation system; HUGIN vehicles; Kongsberg HUGIN AUV; Norwegian Defence Research Establishment; PMF estimator; attractive method; autonomous underwater vehicle; optional module; point mass filter; real time terrain navigation module; sea trials; submerged position fixes; terrain map; terrain measurements; Equations; Mathematical model; Navigation; Noise; Position measurement; Sea measurements; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Oceans - San Diego, 2013

Type

conf

Filename

6741128