Testing and evaluation of an integrated GPS/INS system for small AUV navigation

Author

Yun, X. ; Bachmann, E.R. ; Mcghee, R.B. ; Whalen, R.H. ; Roberts, R.L. ; Knapp, R.G. ; Healey, A.J. ; Zyda, M.J.

Author_Institution

Naval Postgraduate Sch., Monterey, CA, USA

Volume

24

Issue

3

fYear

1999

fDate

7/1/1999 12:00:00 AM

Firstpage

396

Lastpage

404

Abstract

A Small Autonomous Underwater Vehicle Navigation System (SANS) is being developed at the Naval Postgraduate School. The SANS is an integrated Global Positioning System/Inertial Navigation System (GPS/INS) navigation system composed of low-cost and small-size components. It is designed to demonstrate the feasibility of using a low-cost strap-down inertial measurement unit (IMU) to navigate between intermittent GPS fixes. The present hardware consists of a GPS/DGPS receiver, IMU, compass, water speed sensor, water depth sensor, and a data processing computer. The software is based on a 12-state complementary filter that combines measurement data from all sensors to derive a vehicle position/orientation estimate. This paper describes hardware and software design and testing results of the SANS. It is shown that results from tilt table testing and bench testing provide an effective means for tuning filter gains. Ground vehicle testing verifies the overall functioning of the SANS and exhibits an encouraging degree of accuracy

Keywords

Global Positioning System; computerised navigation; inertial navigation; position control; remotely operated vehicles; underwater vehicles; GPS/DGPS receiver; bench testing; compass calibration; complementary filter; data processing computer; ground vehicle testing; hardware design and testing; integrated GPS/INS system; intermittent GPS fixes; low-cost small-size components; small AUV navigation; software design and testing; strap-down inertial measurement unit; tilt table testing; tuning filter gains; vehicle position/orientation estimate; water depth sensor; water speed sensor; Data processing; Filters; Global Positioning System; Hardware; Inertial navigation; Measurement units; Software; Storage area networks; System testing; Underwater vehicles;

fLanguage

English

Journal_Title

Oceanic Engineering, IEEE Journal of

Publisher

ieee

ISSN

0364-9059

Type

jour

DOI

10.1109/48.775301

Filename

775301