An experimental evaluation of autonomous underwater vehicle localization on geomagnetic map

摘要

This letter reports an experimental evaluation of a three-axis magnetometer into an inertial navigation system (INS) for underwater localization. The magnetometer measurements of geomagnetic field are compared with map values to provide position updates to the INS. The concept of such navigation system is not new but lacks test verification and actual application. We examine the capabilities of the integrated navigation by using a localization algorithm based on the interval knowledge of geomagnetic field values. The underwater experimental result indicates that the use of geomagnetic values significantly reduces the growth of position errors of an INS.