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《Shipbuilding of China》 2004-04
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Navigation Algorithm Based on Dead Reckoning of Automatic Underwater Vehicle

WAN Lei, LI Lu, LIU Jian-cheng, XU Yu-ru (Shipbuilding Engineering Institute, Harbin Engineering University, Harbin 150001, China)  
Since few available data about navigation imformation can be used in underwater navigation system, this paper presents a navigation algorithm based on dead reckoning of automatic underwater vehicle (AUV). After dead reckoning is carried out using the sensors' output , Singer model is established and an adaptive Kalman filter algorithm is applied to improve the system's precision and reliability. GPS data are also processed. The test performed in the Song Hua Lake has proved the algorithm's practicability.
【CateGory Index】: TP242
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