Correction of Inertial Measurements Using GPS Updates for Underwater Navigation

Abstract

An Autonomous Underwater Vehicle (AUV) can combine a Global Positioning System (GPS) receiver with an Inertial Navigation System (INS) to navigate with a specified accuracy level. The AUV would be required to surface periodically to obtain a GPS fix. A computer simulation has been developed using an AUV model and an INS error model to generate noisy measurements. A Kalman filter is used to estimate the simulated INS errors. Several runs were executed to compare combinations of equipment with different levels of accuracy. Navigation, Global Position System, Kalman Filter, Underwater Vehicles, Inertial Navigation.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1992
Accession Number
ADA257329

Entities

People

  • Steve Nagengast

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Energy and Power Technologies
  • Ground and Sea Platforms
  • Sensors
  • Space
  • Weapons Technologies

DTIC Thesaurus Topics

  • Accelerometers
  • Aircrafts
  • Algorithms
  • Artificial Satellites
  • Autonomous Underwater Vehicles
  • Computer Programs
  • Computers
  • Coordinate Systems
  • Data Processing
  • Grids
  • Inertial Navigation
  • Inertial Navigation Systems
  • Kalman Filtering
  • Measurement
  • Navigation
  • Two Dimensional
  • Underwater Vehicles

Fields of Study

  • Engineering

Readers

  • Acoustical Oceanography.
  • Inertial Navigation Systems.
  • Positioning, Navigation, and Timing (PNT) Technology.

Technology Areas

  • Space