Continuous INS/DVL Fusion in Situations of DVL Outages
Itzik Klein, Yeshaya Lipman
Abstract
Fusion between INS and DVL is commonly used in AUV navigation. In normal operating scenarios the navigation accuracy is satisfactory for the AUV to complete its goal. Yet, when operating in complex environments situations of partial or complete DVL outages may occur. In the latter, the navigation solution will depend only on the INS and will drift in time. To circumvent such situations, an algorithm to enable the estimation of the velocity vector in situations of complete DVL outages is proposed based on past DVL measurements. Both velocity estimation algorithm and its corresponding variance are analytically derived. Simulation and sea experiment are presented to show the benefits of using the proposed approach.
Topics & Concepts
Computer scienceVariance (accounting)FusionSensor fusionReal-time computingAlgorithmControl theory (sociology)Artificial intelligenceLinguisticsControl (management)BusinessPhilosophyAccountingUnderwater Vehicles and Communication SystemsTarget Tracking and Data Fusion in Sensor NetworksInertial Sensor and Navigation