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A toolbox of aiding techniques for the HUGIN AUV integrated inertial navigation system
2003
Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492)
Modern AUV designs must handle submerged autonomous operation for long periods of time. The state of the art solution embedded in the HUGIN AUVs is a Doppler Velocity Log (DVL) aided Inertial Navigation System (INS) that can integrate various forms of position measurement updates. In autonomous operations, position updates are only available in limited periods of time or space, thus the core velocity aided inertial navigation system must exhibit high accuracy. However, position uncertainty of a
doi:10.1109/oceans.2003.178505
fatcat:yekab77k7jdtvkoby2hnzrlzju