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As we all known, autonomous navigation system is the basic of AUV movement, besides, accurate position estimation and reliable measurement are the keys of it. In order to avoid accumulating position errors in the long voyage by using navigation algorithm, we can depend on GPS. Due to the influence of diving and floating process, GPS data would slip. The slips affect the accuracy of navigation seriously...
Autonomous underwater vehicle (AUV) is developed as a powerful tool with capability of autonomous navigation to conduct benthal survey and exploration. It's a kind of expensive equipment and experimental data obtained in one voyage is also very important. So an on-board self-rescue system is indispensable to ensure AUV escaping from dangers and rising up to the surface safely. In this paper a self-rescue...
The underwater vehicles technology has been developed rapidly in recent years. In the past years, the method of Simultaneous Localization and Mapping (SLAM) has prevailed and provided a feasible way of autonomous navigation. This paper introduces an algorithm based on Inertial Measurement Units (IMU) and sonar for autonomous navigation of underwater vehicles, which is called Inertial-SLAM algorithm...
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