Submerged long endurance autonomous missions are a real challenge for the navigation systems of autonomous underwater vehicles (AUV). Terrain navigation is a promising technique for obtaining submerged position updates for the navigation system. This paper describes a real-time terrain navigation system developed for the HUGIN AUV, and reports of sea trials, where HUGIN 1000 HUS was navigating accurately in real-time with terrain navigation as the only source for position updates during long transit legs.

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