Navigation schemes for underwater robots using strapdown inertial navigation system

Author

Chen, Z. ; Hung, J.C.

Author_Institution

Dept. of Autom. Control, Beijing Univ. of Aeronaut. & Astronaut., China

fYear

1991

fDate

28 Oct-1 Nov 1991

Firstpage

1075

Abstract

The authors deals with navigation schemes for underwater robots using strapdown inertial navigation systems. Compared to the current hydroacoustic position reference systems used for underwater robots, the strapdown inertial systems have longer operation distance, possess better autonomous ability, provide more complete navigation, and offer higher potential accuracy. Two navigation schemes are proposed, one for short-range operations and the other for long-range operations. Criteria for the choice of one of the two are also given. Their application conditions, software requirements, and their respective navigation errors are analyzed

Keywords

inertial navigation; marine systems; mobile robots; position control; mobile robots; navigation errors; position control; strapdown inertial navigation system; underwater robots; Aircraft navigation; Application software; Base stations; Inertial navigation; Orbital robotics; Radio navigation; Robot kinematics; Robotics and automation; Satellite navigation systems; Silicon compounds;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on

Conference_Location

Kobe

Print_ISBN

0-87942-688-8

Type

conf

DOI

10.1109/IECON.1991.239141

Filename

239141