HYDROACOUSTICS
ANNUAL JOURNAL |
START | NEW VOL 20 | SEARCH | STATISTICS | PAS - GDANSK DIVISION |
pp. 21-26, vol. 15, 2012 Krzysztof Bikonis Gdansk University of Technology, Gdansk, Poland Jerzy Demkowicz Gdansk University of Technology, Gdansk, Poland Andrzej Stepnowski Gdansk University of Technology, Gdansk, Poland Key words: autonomous underwater vehicle; Kalman filter Abstract: The Inertial Navigation System (INS) is usually employed to determine the position of an underwater vehicles, like Remotely Operated Vehicles (ROV) and, more recently,
Autonomous Underwater Vehicle (AUV). The accuracy of the position provided by the INS,
which uses accelerometers and gyroscopes, deteriorates with time. An external aiding sources
such as the Global Positioning System (GPS) can be employed to reduce the error growth in
the INS. The GPS aided INS system provides enhance positioning accuracy of the underwater
vehicles compared to that of a stand-alone INS technique. In the paper integration algorithm of inertial sensors (accelerometers and gyroscopes) and GPS system data for underwater navigation is presented. For data integration algorithm
External Kalman Filter (EKF) is proposed.
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