Low-cost terrain relative navigation for long-range AUVs

Recent development of underwater Terrain Relative Navigation (TRN) provides an enabling capability for low-cost navigation on underwater vehicles. High performance TRN systems have been demonstrated using both high-accuracy inertial navigation systems (INS) and high-quality sonars such as multibeam echo sounders. Moving to systems with lower-cost sensor equipment would enable a broader range of TRN applications. This paper considers the performance trade-offs in moving to sonars as low-cost as altimeters, as well as in moving to lower-accuracy inertial systems. The effects of translational and orientation uncertainty on the TRN estimate are explored, and the results of these studies are validated through field trials on the Monterey Bay Aquarium Research Institute (MBARI) Dorado Autonomous Underwater Vehicle (AUV). The field trials demonstrate success on both DVL and altimeter-based TRN configurations.