Testing and Evaluation of an Integrated GPS/INS System for Small AUV Navigation
MetadataShow full item record
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.
IEEE Journal of Oceanic Engineering, Vol. 24, No. 3, July 1999
RightsThis 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.
Showing items related by title, author, creator and subject.
Davis, Edward V., Jr. (Monterey, California: Naval Postgraduate School, 1990-12);Rapid prototyping is emerging as a promising software development paradigm. It provides a systematic and automatable means of developing a software system under circumstances where initial requirements are not well known ...
Eatinger, Christopher J. (Monterey, California. Naval Postgraduate School, 2007-06);Software testing is a crucial step in the development of any software system, large or small. Testing can reveal the presence of logic errors and other flaws in the code that could cripple the system's effectiveness. Many ...
Implementation and Design of a Novel Student Developed Modular HTOL/HTRB System Using Thermoelectric Control O’Neal, Nathaniel J.; Porter, Matthew A.; Martino, Christopher Adrian (American Society for Engineering Education, 2021);Addressing reliability issues is critical to the successful design and implementation of new semiconductor material systems proposed for next generation power electronic devices. For military systems, reliability is central ...