Underwater navigation based on the multiple sensor fusion for the deep-sea UUV system, HEMIRE and HENUVY

This paper presents the underwater navigation algorithm based on a multiple sensor fusion for the deep-sea unmanned underwater vehicles (UUVs), composed of two vehicles, a remotely operated vehicle (ROV) ´Hemire´ and a depressor ´Henuvy´. The performance of underwater positioning system usually highly depend on that of acoustic sensors such as ultra short base line (USBL), long base line(LBL) and altimeter. A sensor fusion based outlier rejection algorithm is suggested to reject the spurious acoustic position measurement. The benefits of the algorithm are illustrated using the sea trial data which were conducted in the East Sea.