“DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System”
Authors: Bjørn Jalving, Kenneth Gade, Kristian Svartveit, Are Willumsen and Robert Sørhagen,Affiliation: Norwegian Defence Research Establishment (FFI), University Studies at Kjeller (UNIK) and Kongsberg Maritime
Reference: 2004, Vol 25, No 4, pp. 223-236.
Keywords: Autonomous underwater vehicle, aided inertial navigation, Kalman filter, Inertial measurement unit, Doppler velocity log
Abstract: The RDI WHN-600 Doppler Velocity Log (DVL) is a key navigation sensor for the HUG1N 1000 Autonomous Underwater Vehicle (AUV). HUGIN 1000 is designed for autonomous submerged operation for long periods of time. This is facilitated by a low drift velocity aided Inertial Navigation System (INS). Major factors determining the position error growth are the IMU and DVL error characteristics and the mission plan pattern_ For instance, low frequency DVL errors cause an approximately linear drift in a straight-line trajectory, while these errors tend to be cancelled out by a lawn mower pattern_ The paper focuses on the accuracy offered by the DVL. HUGIN 1000 is a permanent organic mine countermeasure (MCM) capacity on the Royal Norwegian Navy MCM vessel KNM Karmoy. HUGIN 1000 will be part of the NATO force MCMFORNORTH in fall 2004.
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DOI: 10.4173/mic.2004.4.2DOI forward links to this article:
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BibTeX:
@article{MIC-2004-4-2,
title={{DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System}},
author={Jalving, Bjørn and Gade, Kenneth and Svartveit, Kristian and Willumsen, Are and Sørhagen, Robert},
journal={Modeling, Identification and Control},
volume={25},
number={4},
pages={223--236},
year={2004},
doi={10.4173/mic.2004.4.2},
publisher={Norwegian Society of Automatic Control}
};