Model-Aided Navigation with Sea Current Estimation for an Autonomous Underwater Vehicle

This paper presents a strategy to improve the navigation solution of the HRC-AUV by deploying a model-aided inertial navigation system (MA-INS). Based on a simpler three-DOF linear dynamic model (DM) of the vehicle, and implemented through a Kalman filter (KF), the performance of the proposed MA-INS...

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Bibliographic Details
Published inInternational journal of advanced robotic systems Vol. 12; no. 7
Main Authors Martinez, Alain, Hernandez, Luis, Sahli, Hichem, Valeriano-Medina, Yunier, Orozco-Monteagudo, Maykel, Garcia-Garcia, Delvis
Format Journal Article
LanguageEnglish
Published London, England SAGE Publications 28.07.2015
Sage Publications Ltd
SAGE Publishing
Subjects
Computer simulation
Dynamical systems
Mathematical models
Missions
Navigation
Nonlinear dynamics
Nonlinearity
Sea currents
linear dynamic model
AUV
sea current estimation
Kalman filter
model-aided navigation
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Summary:This paper presents a strategy to improve the navigation solution of the HRC-AUV by deploying a model-aided inertial navigation system (MA-INS). Based on a simpler three-DOF linear dynamic model (DM) of the vehicle, and implemented through a Kalman filter (KF), the performance of the proposed MA-INS is compared to state-of-the-art solutions based on non-linear models. The model allows the online estimation of the sea current parameters before and during the navigation mission. Qualitative and quantitative evaluations as well as a statistical significance test are performed using both simulated and real data, demonstrating the usefulness of the proposed model-aided navigation.
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ISSN:1729-8806
1729-8814
DOI:10.5772/60415