Development of autonomous underwater vehicle navigation system based on kalman filtering technique


Dinç M., Hacızade C.

18th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2011, Saint Petersburg, Russia, 30 May - 01 June 2011, pp.238-242 identifier

  • Publication Type: Conference Paper / Full Text
  • City: Saint Petersburg
  • Country: Russia
  • Page Numbers: pp.238-242
  • Istanbul Technical University Affiliated: Yes

Abstract

The research on underwater systems has gained an immense interest during the last decades with applications taken place in many fields. Therefore, the significant number of underwater vehicles (UVs) has been developed for the solving of wide spectrum of scientific and applied tasks of sea research and development in the world. AUVs require a precise navigation system for localization, positioning, path tracking, guidance, and control during long period of duty cycle. In order to develop an accurate and robust navigation system for an AUV, we need to derive overall modeling of AUV. This article is basically focused on dynamic modeling of high speed Autonomous Underwater Vehicle (AUV) and development of integrated navigation system based on Kalman filtering technique.