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Testing and Evaluation of an Integrated GPS/INS System for Small AUV Navigation

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Author
Bachmann, E.R.
Healey, A.J.
Knapp, R.G.
McGhee, R.B.
Roberts, R.L.
Whalen, R.H.
Yun, X.
Zyda, M.J.
Date
1999-07
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Abstract
A Small Autonomous Underwater Vehicle Nnavigation System (SANS) is being developed at the Naval Postgraduate School. The SANS is an integrated Global Positioning System/Inertial Navigation System (GPS/INS) navigation system composed of low-cost and small-size components. It is designed to demonstrate the feasibility of using a low-cost strap-down inertial measurement unit (IMU) to navigate between intermittent GPS fixes. The present hardware consists of a GPS/DGPS receiver, IMU, compass, water speed sensor, water depth sensor, and a data processing computer. The software is based on a 12-state complementary filter that combines measurement data from all sensors to derive a vehicle position/orientation estimate. This paper describes hardware and software design and testing results of the SANS. It is shown that results from tilt table testing and bench testing provide an effective means for tuning filter gains. Ground vehicle testing verifies the overall functioning of the SANS and exhibits an encouraging degree of accuracy.
Description
IEEE Journal of Oceanic Engineering, Vol. 24, No. 3, July 1999
Rights
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.
URI
http://hdl.handle.net/10945/36036
Collections
  • Center for Autonomous Vehicle Research (CAVR) Publications
  • Faculty and Researchers' Publications

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