A Toolbox of Aiding Techniques for the HUGIN AUV Integrated Inertial Navigation System

Modern AUV designs must handle submerged autonomous operation for long periods of time. The state of the art solution embedded in the HUGIN AUVs is a Doppler Velocity Log (DVL) aided Inertial Navigation System (INS) that can integrate various forms of position measurement updates. In autonomous oper...

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Bibliographic Details
Main Authors: Bjørn Jalving, Kenneth Gade, Ove K. Hagen, Karsten Vestgård
Format: Article
Published: Norwegian Society of Automatic Control 2004-07-01
Series:Modeling, Identification and Control
Online Access:http://www.mic-journal.no/PDF/2004/MIC-2004-3-3.pdf