Enhancement of the Inertial Navigation System for the Morpheus Autonomous Underwater Vehicles
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Authors
Grenon, Gabriel
An, P. Edgar
Smith, Samuel M.
Healey, Anthony J.
Subjects
Autonomous underwater vehicles
inertial navigation
Kalman filtering
underwater navigation
inertial navigation
Kalman filtering
underwater navigation
Advisors
Date of Issue
2001-10
Date
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Abstract
This paper presents the design and development of
an enhanced inertial navigation system that is to be integrated
into the Morpheus autonomous underwater vehicle at Florida
Atlantic University. The inertial measurement unit is based on
the off-the-shelf Honeywell HG1700-AG25 3-axis ring-laser gyros
and three-axis accelerometers and is aided with ground speed
measurements obtained using an RDI Doppler-velocity-log sonar.
An extended Kalman filter has been developed, which fuses
together asynchronously the inertial and Doppler data, as well as
the differential global positioning system positional fixes whenever
they are available. A complementary filter was implemented to
provide a much smoother and stable attitude estimate. Thus far,
preliminary study has been made on characterizing the inertial
navigation system-based navigation system performance, and the
corresponding results and analyzes are provided in this paper.
Type
Article
Description
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Department
Mechanical Engineering
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Citation
IEEE Journal of Oceanic Engineering, Vol. 26, No. 4, October 2001.