An inertial navigation system for small autonomous underwater vehicles
Bachmann, Eric R.
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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
The article of record may be found at http://dx.doi.org/10.1109/ROBOT.2000.844853Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on