Doppler water-track aided inertial navigation for autonomous underwater vehicle
Doppler water-track aided inertial navigation for autonomous underwater vehicle
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DOI：
10.1109/oceanse.2009.5278307
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发表时间：
2009-05
期刊：
影响因子：
--
通讯作者：
O. Hegrenaes;E. Berglund
中科院分区：
文献类型：
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作者：
O. Hegrenaes;E. Berglund
水下航行器的导航一直是并且仍然是所有水下平台面临的重大挑战。随着新应用的出现以及自主水下航行器（auv）在军事和民用机构中的接受度不断提高，需要提高精度、稳健性、可持续性和降低风险。本文报道了一种最先进的水下航行器惯性导航系统的研制和实验评估。提出的系统提高了水下导航能力，既适用于缺乏常规速度测量的车辆，也适用于需要自主性、鲁棒性和完整性的系统，例如在传感器丢失或故障或紧急导航的情况下。与实时海流估计一起，导航系统集成了多普勒速度日志（DVL）水路测量，为INS提供速度辅助。辅助声源包括超短基线（USBL）声波定位和带底轨的DVL。根据现场部署的AUV的数据对性能进行了评估，证明了所提出的导航系统的有效性、鲁棒性和可持续性。
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 of a state-of-the-art inertial navigation system (INS) for underwater vehicles. The proposed system improves underwater navigation capabilities both for vehicles lacking conventional velocity measurements, and for systems where the need for autonomy, robustness and integrity is important, e.g. during sensor dropouts or failures, or in case of emergency navigation. Together with real-time sea current estimation, Doppler velocity log (DVL) water-track measurements are integrated in the navigation system to provide velocity aiding for the INS. Complementary aiding sources include ultra short base line (USBL) acoustic positioning and DVL with bottom-track. The performance is evaluated on data from a field-deployed AUV, demonstrating the effectiveness, robustness, and sustainability of the proposed navigation system.