Evaluation of an integrated GPS/INS system for shallow-water AUV navigation (SANS)

Author

Bachmann, E.R. ; Mcghee, R.B. ; Whalen, R.H. ; Steven, R. ; Walker, R.G. ; Clynch, J.R. ; Healey, A.J. ; Yun, X.P.

Author_Institution

Naval Postgraduate Sch., Monterey, CA, USA

fYear

1996

fDate

2-6 Jun 1996

Firstpage

268

Lastpage

275

Abstract

Many possible autonomous underwater vehicle (AUV) missions require a high degree of navigational accuracy. The Global Positioning System (GPS) is capable of providing this accuracy. However, intermittent reception caused by either wave action or deliberate submergence will cause the loss of GPS position fix information for periods extending from several seconds to minutes. The SANS system is designed to demonstrate the feasibility of using a low-cost strapped-down inertial measurement unit to navigate between GPS fixes. It is anticipated that navigational accuracy comparable to GPS is possible between fixes

Keywords

Global Positioning System; computerised control; computerised navigation; inertial navigation; marine systems; Global Positioning System; SANS system; autonomous underwater vehicle; inertial navigation; integrated GPS/INS system; shallow-water navigation; strapped-down inertial measurement unit; Active filters; Global Positioning System; Hardware; Magnetic separation; Marine vehicles; Monitoring; Navigation; Storage area networks; Testing; Underwater vehicles;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/AUV.1996.532425

Filename

532425