DocumentCode
3318698
Title
Development and implementation of a low-cost LBL navigation system for an AUV
Author
Matos, Aníbal ; Cruz, Nuno ; Martins, Alfredo ; Pereira, Fernando Lobo
Author_Institution
Fac. de Engenharia, Porto Univ., Portugal
Volume
2
fYear
1999
fDate
1999
Firstpage
774
Abstract
A reliable navigation system is a key factor for the success of an operational mission with an AUV in a real scenario. We address the main issues involved in the implementation of a long baseline (LBL) navigation system for a REMUS AUV. This system replaces both the original hardware and software of the vehicle with a simpler, faster, less expensive and more precise system, based on a Kalman filter. We also discuss the influence of transponder location in the overall performance of the LBL navigation, and present results obtained with this new system in operational missions
Keywords
computerised navigation; mobile robots; underwater vehicles; AUV; Isurus; Kalman filter; REMUS AUV; REMUS class AUV; low-cost LBL navigation system; operational mission; reliable navigation system; torpedo shaped vehicle; transponder location; Acoustic measurements; Magnetic sensors; Navigation; Position measurement; Pressure measurement; Propellers; Rotation measurement; Transponders; Vehicles; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS '99 MTS/IEEE. Riding the Crest into the 21st Century
Conference_Location
Seattle, WA
Print_ISBN
0-7803-5628-4
Type
conf
DOI
10.1109/OCEANS.1999.804906
Filename
804906
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