Positioning accuracy for the HUGIN detailed seabed mapping UUV

Author

Jalving, Bjørn ; Gade, Kenneth

Author_Institution

Defence Res. Establ., Kjeller, Norway

Volume

1

fYear

1998

fDate

28 Sep-1 Oct 1998

Firstpage

108

Abstract

HUGIN is an untethered underwater vehicle (UUV) intended for bathymetric data collection for detailed seabed surveying. The HUGIN sensor suite, consisting of standard commercially available navigation sensors and a multibeam echosounder, is reviewed with respect to accuracy and important characteristics. A Kalman filter for post processing integration of UUV sensors and survey vessel sensors is described. We present a complete error budget and discuss the resulting positioning accuracy of the digital terrain model that has been achieved with the HUGIN UUV. Finally we show how the claimed positioning accuracy has been verified

Keywords

Kalman filters; acoustic signal processing; filtering theory; mobile robots; navigation; position control; position measurement; remotely operated vehicles; surveying; underwater vehicles; HUGIN; bathymetric data collection; complete error budget; detailed seabed surveying; digital terrain model; multibeam echosounder; navigation sensors; positioning accuracy; sensor suite; untethered underwater vehicle; Acoustic measurements; Coordinate measuring machines; Delay estimation; Global Positioning System; Navigation; Position measurement; Sea measurements; Sensor phenomena and characterization; Underwater vehicles; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS '98 Conference Proceedings

Conference_Location

Nice

Print_ISBN

0-7803-5045-6

Type

conf

DOI

10.1109/OCEANS.1998.725654

Filename

725654