Title :
The development of an integrated GPS/INS/sonar navigation system
Author :
Bennamoun, M. ; Boashash, B. ; Dunbar, M.
Author_Institution :
Signal Process. Res. Centre, Queensland Univ. of Technol., Brisbane, Qld., Australia
Abstract :
The need to successfully navigate in an underwater environment is rapidly becoming an important concern in the 1990s. This paper presents the development of an integrated navigation system for use by autonomous vehicles (AUV) using GPS, INS and sonar. This paper discusses the existing problems with sub-sea navigation, the motivation for an integrated system, the mathematical derivation for an integrated GPS/INS/sonar system, and the results obtained from extensive testing
Keywords :
Global Positioning System; inertial navigation; marine systems; mobile robots; sonar; autonomous vehicles; integrated GPS/INS/sonar navigation system; integrated navigation system; mathematical derivation; sub-sea navigation; testing; underwater environment; Acceleration; Accelerometers; Filters; Global Positioning System; Position measurement; Sonar measurements; Sonar navigation; State estimation; Vehicles; Velocity measurement;
Conference_Titel :
Southeastcon '96. Bringing Together Education, Science and Technology., Proceedings of the IEEE
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-3088-9
DOI :
10.1109/SECON.1996.510081
