An aided navigation post processing filter for detailed seabed mapping UUVs

Author

Gade, Kenneth ; Jalving, Bjørn

Author_Institution

Norwegian Defence Res. Establ., Kjeller, Norway

fYear

1998

fDate

20-21 Aug 1998

Firstpage

19

Lastpage

25

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 briefly presented. A Kalman filter based post processing integration of UUV sensors and survey vessel sensors is discussed. Resulting UUV position and heading accuracy and important characteristics of the post processing filter is shown with simulation results and results from a commercial survey operation. Finally, we briefly show how the claimed position and heading accuracy has been verified

Keywords

Kalman filters; acoustic signal processing; navigation; position control; position measurement; sensor fusion; smoothing methods; state estimation; underwater vehicles; HUGIN; Kalman filter based post processing integration; aided navigation post processing filter; bathymetric data collection; heading accuracy; multibeam echosounder; navigation sensors; position accuracy; seabed surveying; survey vessel sensors; untethered underwater vehicle; Filters; Global Positioning System; Magnetic sensors; Navigation; Position measurement; Pressure measurement; Sea measurements; Sensor phenomena and characterization; Underwater vehicles; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Underwater Vehicles, 1998. AUV'98. Proceedings of the 1998 Workshop on

Conference_Location

Cambridge, MA

Print_ISBN

0-7803-5190-8

Type

conf

DOI

10.1109/AUV.1998.744435

Filename

744435