Title :
An inertial navigation system for small autonomous underwater vehicles
Author :
Yun, Xiaoping ; Bachmann, Eric R. ; Arslan, Suat
Author_Institution :
Naval Postgraduate Sch., Monterey, CA, USA
Abstract :
A small AUV navigation system (SANS) has been developed at the Naval Postgraduate School. The SANS is an integrated GPS/INS navigation system composed of low-cost, small-size components. It is designed to demonstrate the feasibility of using a low-cost inertial measurement unit to navigate between intermittent GPS fixes. This paper reports recent improvements to the SANS hardware, latest testing results after compensating heading-dependent derivations in the TCM-2 compass measurements, and development of an asynchronous Kalman filter for improved position estimation
Keywords :
Global Positioning System; Kalman filters; compasses; inertial navigation; position control; underwater vehicles; GPS; Kalman filter; Naval Postgraduate School; TCM-2 compass measurements; autonomous underwater vehicles; inertial measurement unit; inertial navigation system; position estimation; Filters; Global Positioning System; Inertial navigation; Land vehicles; Measurement units; Packaging; Remotely operated vehicles; Storage area networks; Testing; Underwater vehicles;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844853
