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This paper presents an in-situ correction method to compensate the initial position error of an autonomous underwater vehicle (AUV) near sea floor. AUVs generally have an inertial navigation system assisted with auxiliary navigational sensors, such as Doppler velocity log, and/or acoustic positioning systems. Since inertial navigation systems show drift in position without the bottom reflection of...
In this paper an algorithm is presented for positioning based on inertial navigation aided by using geomagnetic field intensity. The idea is based on matching noisy samples of geomagnetic intensities by the magnetometers and a priori geomagnetic map. The traditional Iterative Closest Point (ICP) algorithm is then applied in combination with the Inertial Navigation System (INS) to update its cumulative...
Navigation of underwater vehicles has been and remains a substantial challenge to all underwater platforms.With the emergence of new applications and the growing acceptance of autonomous underwater vehicles (AUVs) in both military and civilian institutions, comes the need for enhanced accuracy and robustness, sustainability, and de-risking. This paper reports the development and experimental evaluation...
The inertial navigation system (INS) is usually employed to determine the position of an autonomous underwater vehicle (AUV). The accuracy of the position provided by the INS, which employs accelerometers and gyroscopes, deteriorates with time and as a result 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...
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