A novel backtracking navigation scheme for Autonomous Underwater Vehicles |
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| Affiliation: | 1. College of Mechatronic Engineering and Automation, National University of Defense Technology, China;2. School of Civil and Environmental Engineering, University of New South Wales, Australia;1. Beijing Institute of Tracking and Telecommunication Technology, Beijing 100094, China;2. College of Electrical Engineering, Naval University of Engineering, Wuhan 430033, China;1. GNSS Research Center, Wuhan University, Wuhan 430072, China;2. Artificial Intelligence Institute, Wuhan University, Wuhan 430072, China |
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| Abstract: | A high quality Inertial Navigation System (INS) combined with a Doppler Velocity Log (DVL) is a common approach for Autonomous Underwater Vehicle (AUV) navigation. In this paper, a novel backtracking navigation scheme is employed. In the case of only when an initial position and the velocity of DVL are available, a precise current position can be obtained when finishing the backtracking. Therefore, AUV can be launched without waiting for the completeness of the alignment. In addition, a newly derived INS error model is employed to reduce the volume of the data that has to be recorded for the backtracking and to estimate the INS biases. With the proposed method, INS/DVL integration is able to reach the accuracy of within 0.3% of the distance travelled. |
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| Keywords: | Backtracking navigation Alignment INS biases Error model |
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