Enhancement of the Inertial Navigation System for the Morpheus Autonomous Underwater Vehicles
An, P. Edgar
Smith, Samuel M.
Healey, Anthony J.
MetadataShow full item record
This paper presents the design and development of an enhanced inertial navigation system that is to be integrated into the Morpheus autonomous underwater vehicle at Florida Atlantic University. The inertial measurement unit is based on the off-the-shelf Honeywell HG1700-AG25 3-axis ring-laser gyros and three-axis accelerometers and is aided with ground speed measurements obtained using an RDI Doppler-velocity-log sonar. An extended Kalman filter has been developed, which fuses together asynchronously the inertial and Doppler data, as well as the differential global positioning system positional fixes whenever they are available. A complementary filter was implemented to provide a much smoother and stable attitude estimate. Thus far, preliminary study has been made on characterizing the inertial navigation system-based navigation system performance, and the corresponding results and analyzes are provided in this paper.
Showing items related by title, author, creator and subject.
Foushee, Adam E. (Monterey, California: Naval Postgraduate School, 2016-06);In close quarters combat, the lack of situational awareness can cause confusion, limit tempo of operations, and lead to fratricide. One approach to enhance the small-unit leader's situational awareness is to develop a ...
Bachmann, Eric R.; Gay, David L. (Monterey, California. Naval Postgraduate School, 1995-09);The major problem addressed by this research is the large and/or expensive equipment required by a conventional navigation system to accurately determine the position of an Autonomous Underwater Vehicle (AUV) during all ...
High-accuracy distributed sensor time-space-position information system for captive-carry field experiments Rowe, Andrew W. (Monterey, California. Naval Postgraduate School, 1996-12);Operational EW test and evaluation experiments require that the position of the aircraft and other moving objects on the range be known precisely as a function of time. Terminal Time-Space-Position Information (TSPI) systems ...