Model-Aided Navigation with Sea Current Estimation for an Autonomous Underwater Vehicle. (28th July 2015)

• Record Type: Journal Article
• Authors: Martinez, Alain; Hernandez, Luis; Sahli, Hichem; Valeriano-Medina, Yunier; Orozco-Monteagudo, Maykel; Garcia-Garcia, Delvis
• Is Part Of: International journal of advanced robotic systems. Volume 12:Number 7(2015)
• Publication Date: 2015-07-28
• Subjects: AUV -- linear dynamic model -- model-aided navigation -- Kalman filter -- sea current estimation; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/60415
• Languages: English
• ISSNs: 1729-8806

Abstract

This paper presents a strategy to improve the navigation solution of the HRC-AUV by deploying a model-aided inertial navigation system (MA-INS). Based on a simpler three-DOF linear dynamic model (DM) of the vehicle, and implemented through a Kalman filter (KF), the performance of the proposed MA-INS is compared to state-of-the-art solutions based on non-linear models. The model allows the online estimation of the sea current parameters before and during the navigation mission. Qualitative and quantitative evaluations as well as a statistical significance test are performed using both simulated and real data, demonstrating the usefulness of the proposed model-aided navigation.