Enhancement of the inertial navigation system for the Morpheus autonomous underwater vehicles

Author

Grenon, Gabriel ; An, P. Edgar ; Smith, Samuel M. ; Healey, Anthony J.

Author_Institution

Inst. of Ocean & Syst. Eng. - SeaTech, Florida Atlantic Univ., Dania, FL, USA

Volume

26

Issue

4

fYear

2001

fDate

10/1/2001 12:00:00 AM

Firstpage

548

Lastpage

560

Abstract

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

Keywords

Kalman filters; accelerometers; computerised navigation; gyroscopes; inertial navigation; remotely operated vehicles; sensor fusion; sonar; underwater vehicles; Doppler-aided inertial navigation; Doppler-velocity-log sonar; Morpheus AUV; complementary filter; data fusion methods; differential GPS positional fixes; enhanced inertial navigation system; extended Kalman filter; ground speed measurements; magnetic compass; navigation system performance; ring-laser gyros; stable attitude estimate; three-axis accelerometers; underwater navigation; Accelerometers; Filters; Fuses; Global Positioning System; Inertial navigation; Measurement units; Sonar measurements; Sonar navigation; Underwater vehicles; Velocity measurement;

fLanguage

English

Journal_Title

Oceanic Engineering, IEEE Journal of

Publisher

ieee

ISSN

0364-9059

Type

jour

DOI

10.1109/48.972091

Filename

972091