Navigation Technologies for Autonomous Underwater Vehicles

Stutters, L.; Liu, Honghai; Tiltman, C.; Brown, David

doi:10.1109/tsmcc.2008.919147

Cited by 246 publications

(114 citation statements)

References 33 publications

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“…When a controller is designed for the vehicle, the navigation system can be implemented. According to (Stutters et al, 2008) the accuracy of position estimation will degrade over time if the position of the AUV is not externally referenced. The lack of easy observable external references makes AUV navigation very difficult.…”

Section: Controls and Navigationmentioning

confidence: 99%

See 1 more Smart Citation

The State-of-Art of Underwater Vehicles - Theories and Applications

Wang¹,

Engelaar²,

Chen³

et al. 2009

Mobile Robots - State of the Art in Land, Sea, Air, and Collaborative Missions

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Section: Controls and Navigationmentioning

confidence: 99%

“…Above 100km a geophysical navigation system is the only suitable solution. However, this technique is limited by the availability of maps (Stutters et al, 2008).…”

mentioning

confidence: 99%

The State-of-Art of Underwater Vehicles - Theories and Applications

Wang¹,

Engelaar²,

Chen³

et al. 2009

Mobile Robots - State of the Art in Land, Sea, Air, and Collaborative Missions

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“…For the feature of self-contained and continuity of navigation information, the SINS becomes a key navigation equipment for the underwater vehicles' navigation [3,4,5,6]. However, owing to the drift of the IMU measurements, a single SINS cannot afford precise position and velocity for a long period of time without any aiding methods.…”

Section: Introductionmentioning

confidence: 99%

A fast in-situ SINS and Doppler sensor calibration algorithm for underwater vehicle navigation

Song

2014

IEICE Electron. Express

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This paper reports the development and experimental evaluation of an in-situ calibration algorithm of the misalignment mounting angle matrix between the Strapdown inertial navigation system (SINS) and Doppler sensor which are practically used for accurate underwater navigation. Most previously reported methods required the SINS to be aligned first to output accurate attitude before the calibration. By separately treating the body frame and the navigation frame attitude update, the algorithm in this paper could be simultaneously carried out during the SINS attitude alignment stage. Simulation and experiment results show that the calibration could be done in 300 s and the position error during the navigation is less than 0.8% of the voyage distance.

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“…As there stated, many techniques have been investigated and classified in three main categories, depending on the purpose of the sensors employed: inertial navigation, acoustic navigation and geophisical navigation [2]- [4]. To support navigation, AUV commonly mount on-board sensors of different nature, both inertial and acoustic.…”

Section: Introductionmentioning

confidence: 99%

Fusing acoustic ranges and inertial measurements in AUV navigation: The Typhoon AUV at CommsNet13 sea trial

Caiti

Corato

Fenucci

et al. 2014

Oceans 2014 - Taipei

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Abstract-The paper presents some experimental results of autonomous underwater navigation, based on the fusion of acoustic and inertial measurements. The work is in the framework of the Thesaurus project, funded by the Tuscany Region, aiming at developing techniques for systematic exploration of marine areas of archaeological interest through a team of Autonomous Underwater Vehicles (AUVs). The test was carried out with one Typhoon vehicle, a 300m depth rated AUV with acoustic communication capabilities, during the CommsNet13 experiment, organized and scientifically coordinated by the NATO S&T Org. Ctr. for Maritime Research and Experimentation (CMRE, formerly NURC), with the participation of several research institutions. The fusion algorithm is formally casted into an optimal stochastic filtering problem, where the rough estimation of the vehicle position, velocity and attitude, are refined by using the depth measurement, the relative measurements available on the acoustic channel and the vehicle surge speed.

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Navigation Technologies for Autonomous Underwater Vehicles

Cited by 246 publications

References 33 publications

The State-of-Art of Underwater Vehicles - Theories and Applications

The State-of-Art of Underwater Vehicles - Theories and Applications

A fast in-situ SINS and Doppler sensor calibration algorithm for underwater vehicle navigation

Fusing acoustic ranges and inertial measurements in AUV navigation: The Typhoon AUV at CommsNet13 sea trial

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