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The paper studies a method in order to promote the accuracy of the control and simulation system of AUV (autonomous underwater vehicle) under the help of the error models of INS (inertia navigation system)/DVL (Doppler velocimeter log) integrated navigation system. Time series models are given in this paper, which describe the longitude error and latitude error of the INS/DVL integrated navigation...
In October of 2001 MBARI operated an AUV in the Arctic at latitudes exceeding 80/spl deg/. The navigation instruments consisted of a ring-laser gyro INS coupled with a DVL and GPS, a separate fiber-optic based gyrocompass, and a traditional flux-gate AHRS system. This paper describes the performance of these instruments at high latitudes.
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