Aided inertial navigation systems for underwater vehicles

This paper addresses the design and performance of precision autonomous navigation systems for underwater vehicles. The use of inertial navigation systems aided by velocity sensors and periodic position fixes is examined. Equipment such as the ship´s log, the doppler sonar, the correlation velocity log, and position fixes using such systems as acoustic and magnetic benchmarks, and radio systems such as Omega and GPS are discussed. By using Kalman Filtering techniques, a best estimate of position can be made, and continuous calibration of the INS and aids may be maintained. This paper examines applications and requirements for submersible navigators. It presents a performance analysis of aided and unaided velocity-damped inertial navigation systems. Size, weight, and reliability characteristics are discussed. Finally, current development efforts and performance trends are presented.