The RDI WHN-600 Doppler Velocity Log (DVL) is a key navigation sensor for the HUG1N 1000 Autonomous Underwater Vehicle (AUV). HUGIN 1000 is designed for autonomous submerged operation for long periods of time. This is facilitated by a low drift velocity aided Inertial Navigation System (INS). Major factors determining the position error growth are the IMU and DVL error characteristics and the mission plan pattern_ For instance, low frequency DVL errors cause an approximately linear drift in a straight-line trajectory, while these errors tend to be cancelled out by a lawn mower pattern_ The paper focuses on the accuracy offered by the DVL. HUGIN 1000 is a permanent organic mine countermeasure (MCM) capacity on the Royal Norwegian Navy MCM vessel KNM Karmoy. HUGIN 1000 will be part of the NATO force MCMFORNORTH in fall 2004. ; publishedVersion ; © 2004 Norwegian Society of Automatic Control. Open access, published with the Creative Commons Attribution 3.0 Unported (CC BY 3.0) license. See: http://creativecommons.org/licenses/by/3.0/.


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    Title :

    DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System



    Publication date :

    2004-01-01


    Remarks:

    cristin:1198922
    223-236 ; 25 ; Modeling, Identification and Control ; 4



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629




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