An integrated GPS/INS navigation system for small AUVs using an asynchronous Kalman filter
Hernandez, G. C.
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A small AUV navigation system (SANS) is being 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 (IMU) to navigate between intermittent GPS fixes. The paper reports 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/AUV.1998.744438Autonomous Underwater Vehicles, 1998. AUV'98. Proceedings of the 1998 Workshop on