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/.
DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System
2004-01-01
cristin:1198922
223-236 ; 25 ; Modeling, Identification and Control ; 4
Article (Journal)
Electronic Resource
English
DDC: | 629 |
Integrating DGPS-USBL Position Measurements with Inertial Navigation in the HUGIN 3000 AUV
British Library Conference Proceedings | 2001
|Engineering Index Backfile | 1949
Inertial Navigation System Aiding Using Vision
NTIS | 2013
|Inertial Navigation Aiding by Stationary Updates
IEEE | 2012
|Inertial Navigation Aiding by Stationary Updates
Online Contents | 2012
|