INTEGRATED NAVIGATION SYSTEM APPLIED TO DYNAMIC MODELING OF AUTONOMOUS UNDERWATER VEHICLE

摘要

Autonomous Underwater Veh icle (AUV), a type of UUV, re quires a precise navigation system for loca lization, positioning, path tracking, guidance, and control. In order to develop a robust an d precise AUV navigation system, we need to know an o verall modeling of AUV. AUV Modeling is a complex problem and involves the interdiciplinary study of kinematic, hydrostatics, and hydrodynamics. For instance, an increased knowle dge on hydrodynamicparameters then it leads to a better navigation solution, system design and performance. The overall objective of this paper is to accomplish dynamic mathematical modeling of an AUV and then to develop and implement a low-cost Integrated Navigation System based on error models of In ertial Navigation System (INS) and its aiding devices such as Doppler Velocity Log (DVL), compass, Pressure Depth Sensor. A 20-state INS error model and the corresponding measurement models of those aiding sources will be derived for the KF. The simulation results confirmed that low-cost IMU sensors produce a notable amount of noisy measurements but a KF can effectively mitigate those drawbacks.