Evaluation of an integrated GPS/INS system for shallow-water AUV navigation (SANS)

摘要

Many possible autonomous underwater vehicle (AUV) missions require a high degree of navigational accuracy. The Global Positioning System (GPS) is capable of providing this accuracy. However, intermittent reception caused by either wave action or deliberate submergence will cause the loss of GPS position fix information for periods extending from several seconds to minutes. The SANS system is designed to demonstrate the feasibility of using a low-cost strapped-down inertial measurement unit to navigate between GPS fixes. It is anticipated that navigational accuracy comparable to GPS is possible between fixes.