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
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;
Conference_Titel :
OCEANS 2010
Conference_Location :
Seattle, WA
Print_ISBN :
978-1-4244-4332-1
DOI :
10.1109/OCEANS.2010.5664579
