An inertial navigation system for small autonomous underwater vehicles
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Authors
Yun, Xiaoping
Bachmann, Eric R.
Arslan, Suat
Subjects
INS
GPS
AUV
Navigation
Kalman Filter
GPS
AUV
Navigation
Kalman Filter
Advisors
Date of Issue
2000-04
Date
2000-04
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Abstract
A small AUV navigation system (SANS) has been developed at the Naval Postgraduate School. The SANS is an integrated GPS/INS navigation system composed of low-cost, small-size components. It is designed to demonstrate the feasibility of using a low-cost inertial measurement unit to navigate between intermittent GPS fixes. This paper reports recent improvements to the SANS hardware, latest testing results after compensating heading-dependent derivations in the TCM-2 compass measurements, and development of an asynchronous Kalman filter for improved position estimation
Type
Conference Paper
Description
The article of record may be found at http://dx.doi.org/10.1109/ROBOT.2000.844853
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.