Title :
Performance of an AUV navigation system at Arctic latitudes
Author :
McEwen, Rob ; Thomas, Hans ; Weber, Don ; Psota, Frank
Author_Institution :
Monterey Bay Aquarium Res. Inst., Moss Landing, CA, USA
fDate :
4/1/2005 12:00:00 AM
Abstract :
In October 2001, the Monterey Bay Aquarium Research Institute (MBARI) operated an autonomous underwater vehicle (AUV) in the Arctic at latitudes exceeding 80°. The navigation instruments consisted of a ring-laser gyro inertial navigation system (INS) coupled with a DVL and GPS, a separate fiber-optic-based gyro-compass, and a traditional flux-gate AHRS system. The instruments were tested on deck, in open water, and under ice. This paper describes the performance of these instruments at high latitudes.
Keywords :
compasses; gyroscopes; inertial navigation; oceanographic equipment; remotely operated vehicles; underwater vehicles; AUV navigation system; Arctic latitudes; DVL; GPS; autonomous underwater vehicle; fiber-optic-based gyro-compass; flux-gate AHRS system; inertial navigation system; mobile robot; navigation instruments; sonar navigation; Arctic; Global Positioning System; Ice; Inertial navigation; Instruments; Mobile robots; Sea measurements; Sonar navigation; Testing; Underwater vehicles; Arctic regions; autonomous underwater vehicles (AUVs); gyrocompass; inertial navigation; inertial navigation system (INS); mobile robot; sonar navigation; underwater vehicles;
Journal_Title :
Oceanic Engineering, IEEE Journal of
DOI :
10.1109/JOE.2004.838336
