Usbl/ins Integration Technique for Underwater Vehicles
نویسندگان
چکیده
This paper presents an Ultra-Short Baseline (USBL) and Inertial Navigation System (INS) integration technique to enhance position and orientation estimates of underwater vehicles. Two closed-form methods for the computation of the position of aiding transponders are presented and compared, exploiting the planar approximation of the acoustic waves or considering the distances between the transponders and receivers, respectively. As the distance between the transponder and receivers increases, similar performance for both positioning methods is evidenced. Enhanced performance of the overall USBL/INS aided navigation system is assessed in simulation.
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