An inertial navigation system for small autonomous underwater vehicles

2001 ◽  
Vol 15 (5) ◽  
pp. 521-532 ◽  
Author(s):  
Xiaoping Yun ◽  
Eric R. Bachmann ◽  
Suatarslan ◽  
Kadir Akyol ◽  
Robert B. McGhee
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Autonomous Underwater Vehicles ◽  
Inertial Navigation ◽  
Underwater Vehicles

Application of Improved Unscented Kalman Filter to AUV Based on Terrain-Aided Strapdown Inertial Navigation System

2013 ◽  
Vol 389 ◽  
pp. 758-764 ◽  
Author(s):  
Qi Wang ◽  
Dong Li ◽  
Zi Jia Zhang ◽  
Chang Song Yang
Keyword(s):  
Kalman Filter ◽  
Information Fusion ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Unscented Kalman Filter ◽  
Autonomous Underwater Vehicles ◽  
Inertial Navigation ◽  
Strapdown Inertial Navigation System ◽  
Integrated Navigation ◽  
Strapdown Inertial Navigation

To improve the navigation precision of autonomous underwater vehicles, a terrain-aided strapdown inertial navigation based on Improved Unscented Kalman Filter (IUKF) is proposed in this paper. The characteristics of strapdown inertial navigation system and terrain-aided navigation system are described in this paper, and improved UKF method is applied to the information fusion. Simulation experiments of novel integrated navigation system proposed in the paper were carried out comparing to the traditional Kalman filtering methods. The experiment results suggest that the IUKF method is able to greatly improve the long-time navigation precision, relative to the traditional information fusion method.

scholarly journals Navigation of Underwater Drones and Integration of Acoustic Sensing with Onboard Inertial Navigation System

Drones ◽  
2021 ◽  
Vol 5 (3) ◽  
pp. 83
Author(s):  
Alexander Miller ◽  
Boris Miller ◽  
Gregory Miller
Keyword(s):  
Navigation System ◽  
Acoustic Waves ◽  
Inertial Navigation System ◽  
Autonomous Underwater Vehicles ◽  
Inertial Navigation ◽  
Optical Flow Method ◽  
Array Measurements ◽  
Acoustic Transducer ◽  
Water Media ◽  
Speed Of Propagation

The navigation of autonomous underwater vehicles is a major scientific and technological challenge. The principal difficulty is the opacity of the water media for usual types of radiation except for the acoustic waves. Thus, an acoustic transducer (array) composed of an acoustic sonar is the only tool for external measurements of the AUV attitude and position. Another difficulty is the inconstancy of the speed of propagation of acoustic waves, which depends on the temperature, salinity, and pressure. For this reason, only the data fusion of the acoustic measurements with data from other onboard inertial navigation system sensors can provide the necessary estimation quality and robustness. This review presents common approaches to underwater navigation and also one novel method of velocity measurement. The latter is an analog of the well-known Optical Flow method but based on a sequence of sonar array measurements.

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