Title :
Underwater Glider Navigation in a Nonhomogenous Current
Author_Institution :
JSC Aquamarin, Saint-Petersburg, Lotsmanskaya street, 3 tel. 325-88-59, 325-85-69.
Abstract :
Methods of underwater glider navigation (Russian name - vesoplan) in a nonhomogenous current are proposed. Existing methods are described and problems of positioning of the vesoplan in a nonhomogenous current is stated. Use of method of dead-reckoning and its peculiarities are justified. Conclusion is made that, in this case, dead-reckoning is impossible without current field identification. Principles of current field identification and the algorithms based on them are described
Keywords :
navigation; underwater vehicles; current field identification; nonhomogenous current; underwater glider navigation; vesoplan; Conductivity measurement; Global Positioning System; Marine vehicles; Mobile robots; Monitoring; Navigation; Ocean temperature; Remotely operated vehicles; Sea measurements; Underwater vehicles;
Journal_Title :
Aerospace and Electronic Systems Magazine, IEEE
DOI :
10.1109/MAES.2006.284355
