Title :
An integrated GPS/INS navigation system for small AUVs using an asynchronous Kalman filter
Author :
Yun, X. ; Hernandez, G.C. ; Bachmann, E.R. ; Mcghee, R.B. ; Healey, A.J.
Author_Institution :
Dept. of Electr. & Comput. Eng., Naval Postgraduate Sch., Monterey, CA, USA
Abstract :
A small AUV navigation system (SANS) is being developed at the Naval Postgraduate School. The SANS is an integrated GPS/INS navigation system composed of low-cost, small-size components. It is designed to demonstrate the feasibility of using a low-cost inertial measurement unit (IMU) to navigate between intermittent GPS fixes. The paper reports improvements to the SANS hardware, latest testing results after compensating heading-dependent derivations in the TCM-2 compass measurements, and development of an asynchronous Kalman filter for improved position estimation
Keywords :
Global Positioning System; Kalman filters; inertial navigation; remotely operated vehicles; underwater vehicles; TCM-2 compass measurements; asynchronous Kalman filter; heading-dependent derivations; inertial measurement unit; integrated GPS/INS navigation system; small AUVs; Filters; Global Positioning System; Hardware; Land vehicles; Measurement units; Navigation; Packaging; Position measurement; Storage area networks; Testing;
Conference_Titel :
Autonomous Underwater Vehicles, 1998. AUV'98. Proceedings of the 1998 Workshop on
Conference_Location :
Cambridge, MA
Print_ISBN :
0-7803-5190-8
DOI :
10.1109/AUV.1998.744438
