An inertial navigation system for small autonomous underwater vehicles

Xiaoping Yun, E.R. Bachmann, S. Arslan
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)  
A Small A U V Navigation System ( S A N S ) is being developed at the Naval Postgraduate School. The SANS is an integrated GPS/INS navigation system composed of low-cost, small-size components. I t is designed to demonstrate the feasibility of using a low-cost Inertial Measurement Unit (IMU) to navigate between intermittent G P S fixes. This paper reports recent improvements to the SANS hardware, latest testing results after compensating heading-dependent derivations in the TCM-2 compass
more » ... ments, and development of an asynchronous Kalman filter for improved position estimation.
doi:10.1109/robot.2000.844853 dblp:conf/icra/YunBA00 fatcat:apwsfznt7ffy5abopfywk2wsoi