Command, control, and navigation experimental results with the NPS ARIES AUV

Abstract

Abstract-This

Application of Receding Horizon Kalman Filter to Underwater Navigation Systems

“…We denote it as the RHKF for time-varying systems. The velocity-aided inertial navigation system is relatively underdeveloped for underwater applications, although it has been proven to be a good method for land applications (Marco & Healey, 2001). The DVL is a kind of measuring device used for velocity information.…”

“…Global positioning system (GPS) based navigation systems offer good navigation solutions due to the absolute positioning capability (Farrell & Barth, 1999). However, the drawback of the GPS based navigation systems is that the AUVs need to rise to shallow water depths in order to communicate with satellites, which is a time and energy consuming task (Marco & Healey, 2001). An alternative to the GPS based devices is an acoustic based positioning system (Larsen, 2000).…”

Nonlinear Control Methodologies for Tracking Configuration Variables

“…Many control methods have been proposed by researchers during the last decade, and there still exists a trend towards finding a better control law to achieve exponential stability while accounting for environmental changes and vehicle uncertainties. Focusing on the low level motion control of AUVs, most of the proposed control schemes take into account the uncertainty in the model by resorting to an adaptive strategy ( (Corradini & Orlando, 1997), (Fossen & Sagatun, 1991a) and (Narasimhan & Singh, 2006)), or a robust approach ( (Marco & Healey, 2001) and (Healey & Lienard, 1993)). In (Healey & Lienard, 1993) an estimation of the dynamic parameters of the vehicle NPS AUV Phoenix is also provided.…”

Study on AHRS Sensor for Unmanned Underwater Vehicle

“…. For these reasons, a complex navigation system composed of DVL, IMU, USBL, GPS sensors is required [2][3] [4] [5].…”