<abstract xmlns="http://www.w3.org/1999/xhtml"><p>In order to autonomously transfer from one point of the environment to the other, Autonomous Underwater Vehicles (AUV) need a navigational system. While navigating underwater the vehicles usually use a dead reckoning method which calculates vehicle movement on the basis of the information about velocity (sometimes also acceleration) and course (heading) provided by on-board devicesl ike Doppler Velocity Logs and Fibre Optical Gyroscopes. Due to inaccuracies of the devices and the influence of environmental forces, the position generated by the dead reckoning navigational system (DRNS) is not free from errors, moreover the errors grow exponentially in time. The problem becomes even more serious when we deal with small AUVs which do not have any speedometer on board and whose course measurement device is inaccurate. To improve indications of the DRNS the vehicle can emerge onto the surface from time to time, record its GPS position, and measure position error which can be further used to estimate environmental influence and inaccuracies caused by mechanisms of the vehicle. This paper reports simulation tests which were performed to determine the most effective method for correction of DRNS designed for a real Biomimetic AUV.</p></abstract>

In order to autonomously transfer from one point of the environment to the other, Autonomous Underwater Vehicles (AUV) need a navigational system. While navigating underwater the vehicles usually use a dead reckoning method which calculates vehicle movement on the basis of the information about velocity (sometimes also acceleration) and course (heading) provided by on-board devicesl ike Doppler Velocity Logs and Fibre Optical Gyroscopes. Due to inaccuracies of the devices and the influence of environmental forces, the position generated by the dead reckoning navigational system (DRNS) is not free from errors, moreover the errors grow exponentially in time. The problem becomes even more serious when we deal with small AUVs which do not have any speedometer on board and whose course measurement device is inaccurate. To improve indications of the DRNS the vehicle can emerge onto the surface from time to time, record its GPS position, and measure position error which can be further used to estimate environmental influence and inaccuracies caused by mechanisms of the vehicle. This paper reports simulation tests which were performed to determine the most effective method for correction of DRNS designed for a real Biomimetic AUV.

Correction of Navigational Information Supplied to Biomimetic Autonomous Underwater Vehicle

Polish Maritime Research

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

In order to autonomously transfer from one point of the environment to the other, Autonomous Underwater Vehicles (AUV) need a navigational system. While...

Correction of Navigational Information Supplied to Biomimetic Autonomous Underwater Vehicle

Data publikacji: 11 kwi 2018

Zakres stron: 13 - 23

DOI: https://doi.org/10.2478/pomr-2018-0002

Słowa kluczowe
underwater navigation, odometry, underwater vehicle

© 2018 Tomasz Praczyk, published by De Gruyter Open

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Correction of Navigational Information Supplied to Biomimetic Autonomous Underwater Vehicle

Data publikacji: 11 kwi 2018

Zakres stron: 13 - 23

DOI: https://doi.org/10.2478/pomr-2018-0002

Słowa kluczoweunderwater navigation, odometry, underwater vehicle

© 2018 Tomasz Praczyk, published by De Gruyter Open

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Słowa kluczowe
underwater navigation, odometry, underwater vehicle