DGPS aided INS navigation for AUV

Author

Ragel, B. ; Farooq, M.

Author_Institution

Dept. of Electr. & Comput. Eng., R. Mil. Coll. of Canada, Kingston, Ont., Canada

Volume

3

fYear

2004

fDate

25-28 July 2004

Abstract

The inertial navigation system (INS) that is used to determine the position, velocity and/or acceleration of an autonomous underwater vehicle (AUV) deteriorates with time. In order to reduce the error caused by the INS deterioration an external aiding source can be employed. The differential global positioning system (DGPS) is one of the external aiding sources that can be used to reduce the error caused by the INS. Precise location of an AUV is a must when it comes to clearing sea mines or mapping the sea floor. In this paper we discuss how the DGPS can be incorporated with the INS in order to improve the positioning accuracy of AUV.

Keywords

Global Positioning System; inertial navigation; remotely operated vehicles; underwater vehicles; AUV; DGPS aided INS navigation; acceleration determination; autonomous underwater vehicle; differential global positioning system; error reduction; inertial navigation system; position determination; sea floor mapping; sea mines; velocity determination; Acceleration; Accelerometers; Educational institutions; Global Positioning System; Gravity; Inertial navigation; Military computing; Satellite broadcasting; Sea measurements; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Circuits and Systems, 2004. MWSCAS '04. The 2004 47th Midwest Symposium on

Print_ISBN

0-7803-8346-X

Type

conf

DOI

10.1109/MWSCAS.2004.1354381

Filename

1354381