Testing and Evaluation of an Integrated GPS/INS System for Small AUV Navigation
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
1999-07Metadata
Show full item recordAbstract
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.Related items
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