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“DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System”

Authors: Bjørn Jalving, Kenneth Gade, Kristian Svartveit, Are Willumsen and Robert Sørhagen,
Affiliation: Norwegian Defence Research Establishment (FFI), University Studies at Kjeller (UNIK) and Kongsberg Maritime
Reference: 2004, Vol 25, No 4, pp. 223-236.

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Keywords: Autonomous underwater vehicle, aided inertial navigation, Kalman filter, Inertial measurement unit, Doppler velocity log

Abstract: The RDI WHN-600 Doppler Velocity Log (DVL) is a key navigation sensor for the HUG1N 1000 Autonomous Underwater Vehicle (AUV). HUGIN 1000 is designed for autonomous submerged operation for long periods of time. This is facilitated by a low drift velocity aided Inertial Navigation System (INS). Major factors determining the position error growth are the IMU and DVL error characteristics and the mission plan pattern_ For instance, low frequency DVL errors cause an approximately linear drift in a straight-line trajectory, while these errors tend to be cancelled out by a lawn mower pattern_ The paper focuses on the accuracy offered by the DVL. HUGIN 1000 is a permanent organic mine countermeasure (MCM) capacity on the Royal Norwegian Navy MCM vessel KNM Karmoy. HUGIN 1000 will be part of the NATO force MCMFORNORTH in fall 2004.

PDF PDF (2082 Kb)        DOI: 10.4173/mic.2004.4.2

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  title={{DVL Velocity Aiding in the HUGIN 1000 Integrated Inertial Navigation System}},
  author={Jalving, Bjørn and Gade, Kenneth and Svartveit, Kristian and Willumsen, Are and Sørhagen, Robert},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}


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