Correction of Inertial Measurements Using GPS Updates for Underwater Navigation
NAVAL POSTGRADUATE SCHOOL MONTEREY CA
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An Autonomous Underwater Vehicle AUV can combine a Global Positioning System GPS receiver with an Inertial Navigation System INS to navigate with a specified accuracy level. The AUV would be required to surface periodically to obtain a GPS fix. A computer simulation has been developed using an AUV model and an INS error model to generate noisy measurements. A Kalman filter is used to estimate the simulated INS errors. Several runs were executed to compare combinations of equipment with different levels of accuracy. Navigation, Global Position System, Kalman Filter, Underwater Vehicles, Inertial Navigation.
- Underwater and Marine Navigation and Guidance