Autonomous Underwater Vehicle Navigation

Abstract

This report considers the vehicle navigation problem for an autonomous underwater vehicle with six degrees of freedom. We approach this problem using an error state formulation of the Kalman filter. Integration of the vehicle's high-rate inertial measurement unit's accelerometers and gyros allow time propagation while other sensors provide measurement corrections. The low-rate aiding sensors include a Doppler velocity log, an acoustic long baseline system that provides round-trip travel times from known locations, a pressure sensor for aiding depth, and an attitude sensor. Measurements correct the filter independently as they arrive, and as such, the filter is not dependent on the arrival of any particular measurement. The navigation system can estimate critical bias parameters that improve performance. The result is a robust navigation system. Simulation and experimental results are provided.

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Document Details

Document Type
Technical Report
Publication Date
Feb 01, 2008
Accession Number
ADA486030

Entities

People

  • J. Farrell
  • Paul Miller
  • V. Djapic
  • Yan Zhao

Organizations

  • Naval Information Warfare Systems Command

Tags

Communities of Interest

  • Autonomy
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Accuracy
  • Autonomous Underwater Vehicles
  • Coordinate Systems
  • Department Of Defense
  • Doppler Effect
  • Equations Of State
  • Governments
  • Inertial Measurement Units
  • Kalman Filters
  • Measurement
  • Navigation
  • Notation
  • Simulations
  • Standards
  • Travel Time
  • Underwater Vehicles
  • United States Government

Readers

  • Acoustical Oceanography.
  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Inertial Navigation Systems.