Title :
The development of an integrated GPS/INS/sonar navigation system for autonomous underwater vehicle navigation
Author :
Bennamoun, M. ; Boashash, B. ; Faruqi, F. ; Dunbar, M.
Author_Institution :
Signal Process. Res. Centre, Queensland Univ. of Technol., Brisbane, Qld., Australia
Abstract :
The need to successfully navigate in an underwater environment is rapidly becoming an important concern in the 1990´s. This paper presents the development of an integrated navigation system for autonomous underwater vehicles (AUV) using GPS, INS and sonar. This paper discusses the existing problems with sub-sea navigation, the motivation for an integrated system, the mathematical derivation for an integrated GPS/INS/sonar system, and the results obtained from extensive testing
Keywords :
Global Positioning System; inertial navigation; marine systems; sonar; GPS; Global Positioning System; INS; autonomous underwater vehicle; inertial navigation systems; integrated GPS/INS/sonar navigation; sonar; sub-sea navigation; Acceleration; Accelerometers; Global Positioning System; Position measurement; Recursive estimation; Sonar measurements; Sonar navigation; State estimation; Underwater vehicles; Velocity measurement;
Conference_Titel :
Autonomous Underwater Vehicle Technology, 1996. AUV '96., Proceedings of the 1996 Symposium on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-3185-0
DOI :
10.1109/AUV.1996.532423
