Enhancement of the Inertial Navigation System for the Morpheus Autonomous Underwater Vehicles

摘要

This paper presents the design and development ofan enhanced inertial navigation system that is to be integratedinto the Morpheus autonomous underwater vehicle at FloridaAtlantic University. The inertial measurement unit is based onthe off-the-shelf Honeywell HG1700-AG25 3-axis ring-laser gyrosand three-axis accelerometers and is aided with ground speedmeasurements obtained using an RDI Doppler-velocity-log sonar.An extended Kalman filter has been developed, which fusestogether asynchronously the inertial and Doppler data, as well asthe differential global positioning system positional fixes wheneverthey are available. A complementary filter was implemented toprovide a much smoother and stable attitude estimate. Thus far,preliminary study has been made on characterizing the inertialnavigation system-based navigation system performance, and thecorresponding results and analyzes are provided in this paper.