Preliminary Field Experience with the Dvlnav Integrated Navigation System for Manned and Unmanned Submersibles
نویسندگان
چکیده
This paper reports the development and field testing of DVLNAV, an interactive program for precision three-dimensional navigation of underwater vehicles. We report the results of preliminary field trials of DVLNAV with the Jason II underwater robot. The performance of bottom lock doppler navigation is evaluated with respect to long baseline acoustic navigation.
منابع مشابه
Preliminary Field Experience with the DVLNAV Integrated Navigation System for Oceanographic Submersibles
This paper reports the development and field testing of DVLNAV, an interactive program for precision three-dimensional navigation of underwater vehicles. The goal of this system is to provide vehicle position and velocity navigation data with both the precision and update rate necessary to enable closed-loop vehicle control. We report the results of preliminary field trials of DVLNAV with the J...
متن کاملA Hierarchical SLAM/GPS/INS Sensor Fusion with WLFP for Flying Robo-SAR's Navigation
In this paper, we present the results of a hierarchical SLAM/GPS/INS/WLFP sensor fusion to be used in navigation system devices. Due to low quality of the inertial sensors, even a short-term GPS failure can lower the integrated navigation performance significantly. In addition, in GPS denied environments, most navigation systems need a separate assisting resource, in order to increase the avail...
متن کاملDesign and Experimental Evaluation of integrated orientation estimation algorithm Autonomous Underwater Vehicle Based on Indirect Complementary Filter
This paper aims is to design an integrated navigation system constituted by low-cost inertial sensors to estimate the orientation of an Autonomous Underwater Vehicle (AUV) during all phases of under water and surface missions. The proposed approach relied on global positioning system, inertial measurement unit (accelerometer & rate gyro), magnetometer and complementary filter technique. Complem...
متن کاملImprovement of Navigation Accuracy using Tightly Coupled Kalman Filter
In this paper, a mechanism is designed for integration of inertial navigation system information (INS) and global positioning system information (GPS). In this type of system a series of mathematical and filtering algorithms with Tightly Coupled techniques with several objectives such as application of integrated navigation algorithms, precise calculation of flying object position, speed and at...
متن کاملA Mixed Initiative Human-Robots Team Performance Assessment System For Use in Operational and Training Environments
Military forces of the future will use mixed manned and unmanned forces for a broad variety of functions. Measurement of overall effectiveness in these mixed initiative systems will be essential in order to achieve optimal system performance levels. Behavioral measures of both human and unmanned performance obtained in system simulations or in live exercises will be used to continuously diagnos...
متن کامل