Visualization for AUV non-traditional navigation algorithm development

In this paper, we describe a system called, NAVVIEWER, a visualization tool for the development and utilization of a map based autonomous underwater vehicle (AUV) navigation algorithm. NAVVIEWER allows a developer and subsequently a user of the navigation system to visualize the performance of the algorithm. As a development tool, it enables the user to interactively modify critical components of the algorithm and to test configurations so that real missions can be performed with a high level of confidence. In this paper, we will briefly outline the navigation algorithm and describe fully the visualization system. It will be shown how a visualization tool can be developed such that it not only aids the development of such algorithms, but also enhances their utility and operational use