Design and investigation of dead reckoning system with accommodation to sensors errors for autonomous underwater vehicle

This paper considers an approach to creation of reliable dead reckoning system (DRS) for autonomous underwater vehicle (AUV) with accommodation to incorrect sensors information. Proposed DRS is based on using of diagnostic observers built with the help of kinematic model of AUV and special navigation data fusion. The proposed system advantage consists in the relative simplicity of implementation and high accuracy compensation of errors detected in the navigation sensor data. Results of marine trials using the AUV MARC are presented in the paper.