• DocumentCode
    1571031
  • Title

    The HUGIN real-time terrain navigation system

  • Author

    Hagen, Ove Kent ; Anonsen, Kjetil Bergh ; Mandt, Magne

  • Author_Institution
    Norwegian Defence Res. Establ., Forsvarets Forskningsinstitutt, Kjeller, Norway
  • fYear
    2010
  • Firstpage
    1
  • Lastpage
    7
  • Abstract
    Submerged long endurance autonomous missions are a real challenge for the navigation systems of autonomous underwater vehicles (AUV). Terrain navigation is a promising technique for obtaining submerged position updates for the navigation system. This paper describes a real-time terrain navigation system developed for the HUGIN AUV, and reports of sea trials, where HUGIN 1000 HUS was navigating accurately in real-time with terrain navigation as the only source for position updates during long transit legs.
  • Keywords
    mobile robots; navigation; position control; remotely operated vehicles; terrain mapping; underwater vehicles; HUGIN AUV; autonomous underwater vehicle; real-time terrain navigation system; submerged long endurance autonomous mission; Correlation; Kalman filters; Navigation; Position measurement; Real time systems; Sea measurements; Software;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    OCEANS 2010
  • Conference_Location
    Seattle, WA
  • Print_ISBN
    978-1-4244-4332-1
  • Type

    conf

  • DOI
    10.1109/OCEANS.2010.5664579
  • Filename
    5664579
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1571031