Место издания:State Research Center of the Russian Federation Concern CSRI Elektropribor, JSC
Первая страница:429
Последняя страница:431
Аннотация:The paper considers the navigation problem for an autonomous underwater vehicle (AUV). In AUV navigation, the following sensors are used: transponders that measure the distance from the AUV to transponders in known locations, velocity sensors, depth sensors and gyroscopic course sensors. Peculiarity of this research is that a medium accuracy Strapdown Inertial Navigation System (INS) is integrated with the above-mentioned sensors. The AUV navigation problem is solved as an INS correction problem with aiding measurements. Principal possibilities of this approach are investigated via covariance analysis using experimental data.