“An aided navigation post processing filter for detailed seabed mapping UUVs”

Authors: Kenneth Gade and Bjørn Jalving,
Affiliation: Norwegian Defence Research Establishment (FFI)
Reference: 1999, Vol 20, No 3, pp. 165-175.

Keywords: Aided navigation, Kalman filter, Smoothing, Untethered Underwater Vehicle (UUV), Sea trials

Abstract: HUGIN is an untethered underwater vehicle (UUV) intended for bathymetric data collection for detailed seabed surveying. The HUGIN sensor suite, consisting of standard commercially available navigation sensors and a multibeam echosounder, is briefly presented. A Kalman filter based post processing integration of UUV sensors and survey vessel sensors is discussed. Resulting UUV position and heading accuracy and important characteristics of the post processing filter is shown with simulation results and results from a commercial survey operation. Finally, we briefly show how the claimed position and heading accuracy has been verified.

PDF PDF (1857 Kb)        DOI: 10.4173/mic.1999.3.2

DOI forward links to this article:
[1] D. Loebis, W. Naeem, R. Sutton, J. Chudley and S. Tetlow (2007), doi:10.1002/acs.929
[2] D Loebis, R Sutton, J Chudley and W Naeem (2004), doi:10.1016/j.conengprac.2003.11.008
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[3] MINKLER, G. MINKLER, J. (1993). Theory and Application of Kalman Filtering, Magellan Book Company.
[4] GELB, A. (1974). Applied Optimal Estimation, The MIT Press.

  title={{An aided navigation post processing filter for detailed seabed mapping UUVs}},
  author={Gade, Kenneth and Jalving, Bjørn},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}