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Underwater Navigation System Based On Inertial Sensor And Doppler Velocity Log Using Indirect Feedback Kalman Filter
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2005
Year
EngineeringUnderwater SystemUnderwater Navigation SystemMarine EngineeringCalibrationSystems EngineeringKinematicsMagnetic CompassInertial SensorsInertial SensorDynamic PositioningUnderwater RobotSatellite Navigation SystemsUnderwater VehicleOcean EngineeringAerospace EngineeringUnderwater TrackingUnderwater TechnologyNavigation System
The paper proposes an underwater navigation system for underwater vehicles. The system integrates an IMU, DVL, magnetic compass, and depth sensor, models DVL scale and inertial bias, and applies an indirect feedback Kalman filter to estimate navigation state errors. Simulations and experiments show the system achieves a tracking error below 1.0 m over a 10‑minute run on a rotating arm test.
This paper presents an underwater navigation system for underwater vehicles. The navigation system consists of an inertial measurement unit (IMU) and a Doppler velocity log (DVL) accompanying magnetic compass and depth sensor. A navigational system model is derived to include the scale effect of the DVL and bias errors of the inertial sensors. Indirect feedback Kalman filter is used in this paper, where the measurement equation is composed of the navigational state errors and system parameters. This paper demonstrates the effectiveness of DVLaided inertial navigation system through simulation and experiments. The tracking error of the navigation system is less than 1.0m for 10 minutes run from rotating arm test.