Development of GPS-aided localization algorithm of Autonomous Underwater Vehicle

摘要

This paper introduces the GPS(Global Positioning System)-aided localization algorithm designed especially for improvement for position error due to dead reckoning using DVL(Doppler Velocity Logger) and TCM(Tilt-compensated Compass Module). In order to verify fundamental performance of proposed algorithm, dynamic simulation was performed. As a result, it was verified that locational error is bounded with modest distance, after estimating the heading bias error of TCM and position of AUV(Autonomous Underwater Vehicle) using GPS positional data, which is received when surfaced.